{
  "info": {
    "version": "1.0.0",
    "datetime": "2025-06-16-16:47",
    "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_0057",
    "episode_id": 57,
    "task": "Push the box to the lined area.",
    "total_steps": 230
  },
  "data": [
    {
      "idx": 0,
      "colors": {
        "rgb_main": "colors/000000_rgb_main.jpg",
        "rgb_wrist_0": "colors/000000_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000000_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000000_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3579597192076574,
          -0.2918586804122321,
          -0.1284700916350488,
          -1.5191471563444272,
          -0.10984926535311726,
          -0.5092535993465213,
          0.35808774284926886
        ],
        "joint_pos_r": [
          -0.4804558620654106,
          -0.2846939342943334,
          0.27779962033772554,
          -1.3152536087568052,
          -0.02999999999999998,
          0.7533570687157973,
          -0.19766064072896
        ],
        "eef_pose_l": [
          457.76548750798236,
          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": [
            -28.7841796875,
            11.11083984375,
            -15.9423828125,
            -4.058837890625,
            -0.87890625,
            -0.85693359375,
            -0.27191162109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            25.6640625,
            14.765625,
            17.17529296875,
            -2.9052734375,
            2.3199462890625,
            1.9921875,
            0.37445068359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.2,
            0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.2,
            0.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -320,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "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,
          -0.0754936457544237,
          0.8180631049630251
        ],
        "act_eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.689961907456498,
          0.01467828963162952,
          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": [
          0.3579597495614166,
          -0.2918586805424409,
          -0.12847009157371106,
          -1.5191471558090743,
          -0.10984926512681913,
          -0.5092536002330216,
          0.3580877423788564
        ],
        "joint_pos_r": [
          -0.4804558520213207,
          -0.28469393412153593,
          0.27779962051034407,
          -1.3152536092922464,
          -0.029999999787103895,
          0.7533570679276369,
          -0.1976606408643061
        ],
        "eef_pose_l": [
          457.7654836193209,
          348.2678907752136,
          116.82041419144203,
          1.6656263520535586,
          -0.07549362458873432,
          0.8180631103215275
        ],
        "eef_pose_r": [
          451.8198655961764,
          -395.37474812771046,
          103.95054800221546,
          1.689961900890547,
          0.014678297155805502,
          2.349915424094331
        ],
        "joint_status_l": {
          "velocity": [
            5.313423656616578e-05,
            -2.2793056331238404e-07,
            1.0737166711294321e-07,
            9.371348141939961e-07,
            3.961347916359159e-07,
            -1.5518182294727012e-06,
            -8.234568582565771e-07
          ],
          "torque": [
            -28.58642578125,
            11.103515625,
            -15.9423828125,
            -4.06494140625,
            -0.8770751953125,
            -0.85693359375,
            -0.2728271484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.569859474694681e-05,
            6.141549491189835e-07,
            6.135187913258733e-07,
            -1.9030590436841521e-06,
            7.566729465224853e-07,
            -2.8012712149916297e-06,
            -4.8104564775997e-07
          ],
          "torque": [
            25.65673828125,
            14.765625,
            17.169189453125,
            -2.9052734375,
            2.3199462890625,
            1.9903564453125,
            0.37353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.2,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.2,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -297,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35410222002066427,
          -0.2924766118099955,
          -0.12814136642324578,
          -1.5155350630423141,
          -0.10434450286655608,
          -0.5117605307164016,
          0.3513033371399012
        ],
        "act_joint_pos_r": [
          -0.48369468338555605,
          -0.28026844971958165,
          0.2814112790882584,
          -1.3201690815635727,
          -0.03156319148737596,
          0.7489357238243712,
          -0.2000044379790906
        ],
        "act_eef_pose_l": [
          458.4070875079824,
          348.8814907697836,
          117.83323144788784,
          1.6654977999890008,
          -0.07605406941989282,
          0.8180250522017054
        ],
        "act_eef_pose_r": [
          450.9886644042035,
          -396.2731481268787,
          104.16974334691986,
          1.691472886102265,
          0.019147528700537,
          2.346634273709407
        ],
        "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": [
          0.3575244804007574,
          -0.29192840976008955,
          -0.12843299724838356,
          -1.518739556615851,
          -0.10922809202259423,
          -0.5095364900873853,
          0.3573221705440966
        ],
        "joint_pos_r": [
          -0.4808213138559024,
          -0.28419454967391217,
          0.2782071705539923,
          -1.3158082859697016,
          -0.03017639439074661,
          0.7528581496389812,
          -0.1979251217776454
        ],
        "eef_pose_l": [
          457.8380674655158,
          348.33700515972276,
          116.934746966676,
          1.6656105020279124,
          -0.0755574465849724,
          0.8180582502941052
        ],
        "eef_pose_r": [
          451.72614084594096,
          -395.47639647481867,
          103.97483780547951,
          1.6901320767189578,
          0.015181011543070224,
          2.3495441674091726
        ],
        "joint_status_l": {
          "velocity": [
            -0.3695932204808017,
            -0.059204075258723066,
            0.03149520021361596,
            0.34607509900297373,
            0.5274120736644683,
            -0.2401893039283287,
            -0.65001483649052
          ],
          "torque": [
            -32.255859375,
            5.9912109375,
            -15.6494140625,
            -0.787353515625,
            -0.985107421875,
            -2.010498046875,
            -0.6005859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.31031475695764144,
            0.42400628967076415,
            0.34603351598772036,
            -0.4709520341510398,
            -0.14976966921570467,
            -0.4236094942839941,
            -0.2245595267269529
          ],
          "torque": [
            19.38720703125,
            16.61865234375,
            18.145751953125,
            -4.095458984375,
            1.717529296875,
            0.7305908203125,
            -0.35430908203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -17.5,
            -8.7,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.4,
            -17.5,
            -8.7,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.9,
            1.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.9,
            1.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -335,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36520419603585436,
          -0.28754768663944963,
          -0.13015075981325497,
          -1.5263574347046052,
          -0.1783371299291163,
          -0.48745134760369896,
          0.429394179733985
        ],
        "act_joint_pos_r": [
          -0.48543203763312004,
          -0.2771879911995302,
          0.284390722987895,
          -1.3274383021202476,
          -0.043627251515848904,
          0.745668785038761,
          -0.20057433302960986
        ],
        "act_eef_pose_l": [
          459.8454875079824,
          351.97109076978364,
          119.73723144788784,
          1.6447782504984918,
          -0.08528188197448078,
          0.8467004234824211
        ],
        "act_eef_pose_r": [
          449.6966644042035,
          -395.42674812687875,
          103.48734334691994,
          1.6983744188288599,
          0.029292149598227978,
          2.3501762224790306
        ],
        "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": [
          0.35831848607026096,
          -0.2914041848800276,
          -0.12863466167118914,
          -1.51953682906698,
          -0.11768931028511194,
          -0.506866234181948,
          0.366099132236026
        ],
        "joint_pos_r": [
          -0.4815482941098195,
          -0.2831121775245692,
          0.27914915851462535,
          -1.3174953909450697,
          -0.03194192533072084,
          0.7517529265452428,
          -0.19836458151541533
        ],
        "eef_pose_l": [
          458.1230619399057,
          348.80069452926733,
          117.36907614423124,
          1.662794959049542,
          -0.07687500978461805,
          0.8215845647462119
        ],
        "eef_pose_r": [
          451.43258284135305,
          -395.5102571553751,
          103.92101050817585,
          1.6912412665686687,
          0.017151466549693416,
          2.3494686788577885
        ],
        "joint_status_l": {
          "velocity": [
            0.7436347439493396,
            0.4164895262803725,
            -0.16373377027367741,
            -0.7366036838973855,
            -6.549771346372579,
            2.0967459102361197,
            6.835663522660518
          ],
          "torque": [
            -18.34716796875,
            12.7880859375,
            -17.340087890625,
            -4.534912109375,
            -4.163818359375,
            -0.3717041015625,
            0.626220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4194319300325766,
            0.639793253411014,
            0.5660722677038876,
            -1.0738027367995784,
            -1.2619780079420329,
            -0.6570679035187155,
            -0.23864612504165272
          ],
          "torque": [
            17.96630859375,
            15.69580078125,
            18.365478515625,
            -4.150390625,
            1.6278076171875,
            0.2545166015625,
            -0.50811767578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -17.0,
            -7.3,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -17.0,
            -7.3,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -16.9,
            0.9,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.9,
            0.9,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -360,
          "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": [
          0.3615144095729245,
          -0.2922758211215621,
          -0.12793555920927424,
          -1.5078980956036108,
          -0.22356126195379855,
          -0.5140662792232988,
          0.43413629299663065
        ],
        "act_joint_pos_r": [
          -0.4863296087577171,
          -0.2799064399452219,
          0.2821428214073592,
          -1.324629046059372,
          -0.03187997851937796,
          0.7534152402794151,
          -0.2275367473010708
        ],
        "act_eef_pose_l": [
          461.8798875079824,
          353.81589076978366,
          125.27243144788764,
          1.6163321653480949,
          -0.05256510731388881,
          0.8468728912167945
        ],
        "act_eef_pose_r": [
          449.4622644042035,
          -394.1267481268787,
          103.68334334691986,
          1.6914337900382044,
          0.04438210683549084,
          2.3583173037318255
        ],
        "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": [
          0.3591195715583296,
          -0.2912558596135476,
          -0.12865275107815716,
          -1.5186597655437453,
          -0.13351557340314543,
          -0.506436823040559,
          0.37782534220322095
        ],
        "joint_pos_r": [
          -0.48221491596037375,
          -0.2824463914534101,
          0.27975173929001346,
          -1.3187634006381344,
          -0.03270677580306047,
          0.7514946947178647,
          -0.20101570103461613
        ],
        "eef_pose_l": [
          458.6453011616549,
          349.50829492098734,
          118.4253803280946,
          1.6563137214302834,
          -0.07468522206547107,
          0.8258942353451728
        ],
        "eef_pose_r": [
          451.14903931188235,
          -395.38568514587035,
          103.8706825081309,
          1.6917261015342704,
          0.020286381958269206,
          2.3502729975703573
        ],
        "joint_status_l": {
          "velocity": [
            0.25863487754840264,
            -0.11015259408830858,
            0.07745443744289204,
            1.1622260755093095,
            -9.724647550322318,
            -0.8239569664238999,
            6.08140332428464
          ],
          "torque": [
            -17.60009765625,
            5.1416015625,
            -10.72998046875,
            -0.433349609375,
            -4.522705078125,
            -2.1405029296875,
            0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.44437371601091513,
            0.274306672641611,
            0.2582292526085439,
            -0.6334710222635209,
            0.08929147312650154,
            0.2074128033333622,
            -2.864188522051947
          ],
          "torque": [
            17.93701171875,
            16.07666015625,
            18.499755859375,
            -3.99169921875,
            3.5650634765625,
            1.461181640625,
            -0.79833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -17.3,
            -9.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.3,
            -9.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.7,
            0.7,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.7,
            0.7,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -381,
          "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": [
          0.3454287565356078,
          -0.2962519470302167,
          -0.12627398823199018,
          -1.4966041388781601,
          -0.17085585664763248,
          -0.534312212191365,
          0.3817496428076542
        ],
        "act_joint_pos_r": [
          -0.4817841894197996,
          -0.27938426488863133,
          0.2828375995902822,
          -1.3277127576784602,
          -0.05492274587581969,
          0.7516224240892971,
          -0.22227025454505395
        ],
        "act_eef_pose_l": [
          461.80948750798234,
          352.0398907697836,
          127.6060314478878,
          1.6247020109033312,
          -0.05503811924562613,
          0.8257554144700932
        ],
        "act_eef_pose_r": [
          449.1278644042035,
          -393.3763481268787,
          103.0377433469198,
          1.7031054454720584,
          0.05909399304701447,
          2.363761992258691
        ],
        "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": [
          0.3576981212555544,
          -0.2918722138020775,
          -0.12834735171945336,
          -1.5156161552313139,
          -0.14237123791746345,
          -0.5099756782924001,
          0.38117114238578675
        ],
        "joint_pos_r": [
          -0.4824903171827707,
          -0.2819453684255182,
          0.28024360896302875,
          -1.3201072180626223,
          -0.034852544621004615,
          0.7516559404931805,
          -0.205181012206453
        ],
        "eef_pose_l": [
          459.17106178688107,
          349.98704686703024,
          119.79666276234941,
          1.650736583118232,
          -0.07128059112052772,
          0.826945071780006
        ],
        "eef_pose_r": [
          450.81754094443545,
          -395.0852970366805,
          103.7735976682658,
          1.6928203055032078,
          0.026011830080759815,
          2.3522124508129187
        ],
        "joint_status_l": {
          "velocity": [
            -1.3250523094257005,
            -0.47299723833127416,
            0.2239166525773717,
            2.05323720914663,
            -3.076248093770495,
            -2.6282681444627087,
            0.06247620292443301
          ],
          "torque": [
            -29.11376953125,
            2.67333984375,
            -10.162353515625,
            0.091552734375,
            -4.02099609375,
            -3.028564453125,
            0.4229736328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0762595492456164,
            0.27659102436761174,
            0.2801427253751321,
            -0.8213740533768998,
            -2.167517807999453,
            -0.0036196648629527317,
            -1.845583739986001
          ],
          "torque": [
            22.97607421875,
            16.42822265625,
            17.93212890625,
            -4.39453125,
            1.6094970703125,
            0.65185546875,
            -0.70770263671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -17.5,
            -6.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -17.5,
            -6.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -16.6,
            0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            0.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -257,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33787326600883333,
          -0.29780820477315195,
          -0.1256634158059404,
          -1.4928821551845244,
          -0.13851060459840694,
          -0.5345928898271632,
          0.3591850780413151
        ],
        "act_joint_pos_r": [
          -0.4830185810415611,
          -0.2903423957896738,
          0.27307043654145163,
          -1.3056925344026682,
          -0.01664106411538846,
          0.787727979427351,
          -0.253702681352156
        ],
        "act_eef_pose_l": [
          462.4518875079824,
          352.0318907697837,
          127.41243144788774,
          1.6356352184330072,
          -0.06490681289679079,
          0.8216033484631623
        ],
        "act_eef_pose_r": [
          448.8966644042035,
          -391.43314812687873,
          103.10174334691987,
          1.680347823644142,
          0.0520782930583104,
          2.3829665366121087
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 6,
      "colors": {
        "rgb_main": "colors/000006_rgb_main.jpg",
        "rgb_wrist_0": "colors/000006_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000006_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000006_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3549295865184121,
          -0.29274701501112677,
          -0.12794576972143581,
          -1.5121204605459277,
          -0.14383674933819163,
          -0.5140044086254478,
          0.37902185614623857
        ],
        "joint_pos_r": [
          -0.4824882468708855,
          -0.2825824965016039,
          0.27973075545996967,
          -1.3192616954321597,
          -0.03459342969226326,
          0.7552412608957186,
          -0.21132896662831865
        ],
        "eef_pose_l": [
          459.68020575514,
          350.31930809639255,
          121.05120736641776,
          1.6475506888864782,
          -0.06956749912709055,
          0.826368254216913
        ],
        "eef_pose_r": [
          450.4985803513578,
          -394.58050315849533,
          103.6376413793936,
          1.692424765199642,
          0.031118891767829785,
          2.3562021625598764
        ],
        "joint_status_l": {
          "velocity": [
            -1.842028287314612,
            -0.5465923734182532,
            0.24648695312945446,
            2.077675701263715,
            0.5752066670829947,
            -2.2234903914415405,
            -2.1423088513099486
          ],
          "torque": [
            -29.94873046875,
            1.09130859375,
            -10.198974609375,
            0.13427734375,
            -1.805419921875,
            -2.96630859375,
            -0.4119873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.057274401214613135,
            -0.8380444063127435,
            -0.7192932287800602,
            1.4654261707498506,
            1.938798300503225,
            3.5084621248566705,
            -4.576226221596702
          ],
          "torque": [
            17.1826171875,
            8.48876953125,
            10.992431640625,
            -0.836181640625,
            4.1729736328125,
            2.3638916015625,
            -0.68939208984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -17.3,
            -11.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.3,
            -11.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.1,
            1.3,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.1,
            1.3,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33859269399674685,
          -0.29899580569446854,
          -0.12518536985305556,
          -1.4895011481692455,
          -0.13866717982012458,
          -0.5365035436958201,
          0.360472581574231
        ],
        "act_joint_pos_r": [
          -0.47723075989634944,
          -0.29073377414257756,
          0.2731342870952883,
          -1.3088229298714682,
          -0.039893503424618615,
          0.7894038926438257,
          -0.23770193964958794
        ],
        "act_eef_pose_l": [
          462.8590875079824,
          352.4598907697836,
          126.7804314478879,
          1.636283944526642,
          -0.06540244916283353,
          0.82181592660459
        ],
        "act_eef_pose_r": [
          448.2382644042035,
          -389.6947481268787,
          102.68494334691991,
          1.6914317812882156,
          0.05566414448360559,
          2.391743856755989
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 7,
      "colors": {
        "rgb_main": "colors/000007_rgb_main.jpg",
        "rgb_wrist_0": "colors/000007_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000007_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000007_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3519854437108173,
          -0.29376000087690335,
          -0.12749468142380144,
          -1.5083826738733848,
          -0.14291061595756285,
          -0.5178346687635228,
          0.3756426088098204
        ],
        "joint_pos_r": [
          -0.48207833934731315,
          -0.2838918016206802,
          0.2786413139510225,
          -1.317299845343487,
          -0.03363920022795929,
          0.7607258631598914,
          -0.21692077027347317
        ],
        "eef_pose_l": [
          460.22153024976984,
          350.66461386894304,
          122.1101424900312,
          1.6454824226861304,
          -0.0687875103976455,
          0.8255690144637414
        ],
        "eef_pose_r": [
          450.1859858751602,
          -393.9047609020508,
          103.50600847321736,
          1.6914189442223113,
          0.03484689006890769,
          2.361389016338246
        ],
        "joint_status_l": {
          "velocity": [
            -1.4463743105896931,
            -0.5654502432332897,
            0.24939829403114455,
            2.039144634691681,
            0.45827758666838747,
            -2.01617902866591,
            -1.638314621936754
          ],
          "torque": [
            -28.8134765625,
            0.19775390625,
            -10.345458984375,
            0.0732421875,
            -1.3311767578125,
            -2.9718017578125,
            -0.58319091796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5235231402145324,
            -0.7389112393427766,
            -0.5947413594606932,
            0.9154798703434608,
            -0.675444824058985,
            3.097135839126075,
            -2.24430010052723
          ],
          "torque": [
            24.16259765625,
            6.6064453125,
            10.36376953125,
            -0.555419921875,
            2.607421875,
            2.4005126953125,
            -0.63079833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.3,
            0.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.3,
            0.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -332,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 683,
          "motor_current": 1154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33439531034240144,
          -0.3002236871605424,
          -0.12461985877188993,
          -1.4838569236312382,
          -0.12241932427275769,
          -0.5426552931805586,
          0.3518694227234861
        ],
        "act_joint_pos_r": [
          -0.4723312943679088,
          -0.3021682159465389,
          0.26645814588162275,
          -1.3153558149229716,
          -0.02384038473504191,
          0.7926030521544496,
          -0.2588555344662195
        ],
        "act_eef_pose_l": [
          463.1678875079824,
          352.81749076978366,
          126.86603144788779,
          1.6407202791873878,
          -0.0731972870066379,
          0.8172014215774172
        ],
        "act_eef_pose_r": [
          448.9302644042035,
          -381.5731481268787,
          104.24574334691988,
          1.6767005394029924,
          0.06142051763160507,
          2.410405183062245
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 8,
      "colors": {
        "rgb_main": "colors/000008_rgb_main.jpg",
        "rgb_wrist_0": "colors/000008_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000008_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000008_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.34936624450090126,
          -0.29474287424982815,
          -0.12705879269708764,
          -1.504717235166681,
          -0.1405969185992558,
          -0.5215156297468304,
          0.3722930121405523
        ],
        "joint_pos_r": [
          -0.4807339202143735,
          -0.28623884895604157,
          0.2770035815655846,
          -1.3164508501593588,
          -0.033148286906659115,
          0.7661145849179833,
          -0.22269910232489304
        ],
        "eef_pose_l": [
          460.69487344519604,
          350.9945589674139,
          122.88975230156174,
          1.644357420207906,
          -0.06901488875452692,
          0.8245017834695898
        ],
        "eef_pose_r": [
          449.9291268140168,
          -392.3400205036068,
          103.50407284652911,
          1.6899755871597228,
          0.039053746897157814,
          2.3686505099931625
        ],
        "joint_status_l": {
          "velocity": [
            -1.6168132037619465,
            -0.5919103368952072,
            0.26339709543932166,
            2.2528472016531964,
            1.9631222880649446,
            -2.2830163168752193,
            -2.2056826039125177
          ],
          "torque": [
            -29.04052734375,
            -0.27099609375,
            -10.19287109375,
            0.054931640625,
            -1.0638427734375,
            -3.2794189453125,
            -0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9074568274098915,
            -1.7203208968212813,
            -1.1388734645905174,
            0.1182603176292929,
            1.005223787043874,
            2.8606700905839944,
            -3.9047795059474755
          ],
          "torque": [
            25.2392578125,
            5.04638671875,
            10.26611328125,
            -1.007080078125,
            4.32861328125,
            2.442626953125,
            -0.65643310546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.4,
            -10.2,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.4,
            -10.2,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -16.3,
            0.4,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -16.3,
            0.4,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -375,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 604,
          "motor_current": 1686,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3300798250410154,
          -0.3068572812890264,
          -0.1219343446449775,
          -1.4626638169537016,
          -0.11051468784359302,
          -0.5567089822934268,
          0.34749421256771557
        ],
        "act_joint_pos_r": [
          -0.45674570105457724,
          -0.3169764632393893,
          0.25733359602435263,
          -1.3097873861031843,
          -0.04517843944092581,
          0.8109996825827205,
          -0.251092815282203
        ],
        "act_eef_pose_l": [
          465.82708750798236,
          355.36309076978364,
          125.92763144788779,
          1.6443807366848344,
          -0.08078634070260063,
          0.8154981548835099
        ],
        "act_eef_pose_r": [
          449.41666440420346,
          -373.9995481268787,
          104.02814334691993,
          1.6818672583766519,
          0.06904183994733322,
          2.4413949899179306
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 9,
      "colors": {
        "rgb_main": "colors/000009_rgb_main.jpg",
        "rgb_wrist_0": "colors/000009_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000009_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000009_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.34697405823328514,
          -0.2959830274795866,
          -0.1265261388251072,
          -1.5002894909564595,
          -0.13721179999802913,
          -0.5254674407315862,
          0.369138574162308
        ],
        "joint_pos_r": [
          -0.4772841420996769,
          -0.29092145570227385,
          0.2739891684447055,
          -1.3155554957647289,
          -0.034191629835243285,
          0.7731163435606085,
          -0.22811359229665304
        ],
        "eef_pose_l": [
          461.24178368788563,
          351.4304449629337,
          123.38314702320626,
          1.644022812743773,
          -0.07017073588005808,
          0.8233704059317418
        ],
        "eef_pose_r": [
          449.8620015154441,
          -389.4600334238905,
          103.58623343070559,
          1.6882244683351177,
          0.043867067166799285,
          2.379950985435504
        ],
        "joint_status_l": {
          "velocity": [
            -1.824523373325171,
            -1.1743847747918146,
            0.49589914569048155,
            4.063452947161039,
            2.883203077149843,
            -3.373986978251864,
            -2.3375221106864963
          ],
          "torque": [
            -29.4580078125,
            1.025390625,
            -10.443115234375,
            1.01318359375,
            -0.911865234375,
            -2.84912109375,
            -0.66650390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.2180862139151714,
            -2.8138578237082434,
            -1.7987487701389693,
            0.6229374708883739,
            -1.1865404422739811,
            4.091279948535309,
            -2.481682889114989
          ],
          "torque": [
            28.73291015625,
            4.85595703125,
            11.02294921875,
            -1.08642578125,
            2.310791015625,
            2.40234375,
            -0.93109130859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.9,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.9,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.3,
            -1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.3,
            -1.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -301,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 458,
          "motor_current": 2858,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3303158500783611,
          -0.3105517782141955,
          -0.12035984776607454,
          -1.4468969945918866,
          -0.10839529423859048,
          -0.5600552385828051,
          0.34716773442314774
        ],
        "act_joint_pos_r": [
          -0.45430673383725173,
          -0.33879800395220666,
          0.24575216274523326,
          -1.3052766503298194,
          -0.022433003699554366,
          0.8328419808050326,
          -0.2628594103376898
        ],
        "act_eef_pose_l": [
          468.4134875079824,
          358.99749076978367,
          124.15323144788778,
          1.6480832894423356,
          -0.08231739701214676,
          0.8233158131232756
        ],
        "act_eef_pose_r": [
          449.5982644042035,
          -362.6691481268787,
          103.16974334691986,
          1.6627168332767213,
          0.05340672095122574,
          2.4747936197117997
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 10,
      "colors": {
        "rgb_main": "colors/000010_rgb_main.jpg",
        "rgb_wrist_0": "colors/000010_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000010_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000010_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.34340613933654307,
          -0.29876430998580816,
          -0.1253498856107639,
          -1.490290060993406,
          -0.1312595031095914,
          -0.5325420949465123,
          0.36448821762209005
        ],
        "joint_pos_r": [
          -0.4739239152963206,
          -0.29704696179715107,
          0.27030898477891563,
          -1.314231263811328,
          -0.033596994170203585,
          0.7810393969059504,
          -0.23277209220043965
        ],
        "eef_pose_l": [
          462.5694653940007,
          352.72420443897994,
          123.71235392674285,
          1.6444107573927578,
          -0.07268354316618081,
          0.8226932635826671
        ],
        "eef_pose_r": [
          449.8917910824608,
          -385.9545446319115,
          103.50974004156573,
          1.6854023424065854,
          0.04592017588635429,
          2.3926171132305587
        ],
        "joint_status_l": {
          "velocity": [
            -1.4137095447495085,
            -1.273009023271765,
            0.5389081929789707,
            4.686312955952232,
            2.469261731086303,
            -2.9713318779700515,
            -1.870557016355967
          ],
          "torque": [
            -28.98193359375,
            1.04736328125,
            -10.247802734375,
            -0.1953125,
            -0.5511474609375,
            -3.197021484375,
            -0.5328369140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.1185931130158764,
            -4.50897956750218,
            -2.6520585613514225,
            0.9670697338073353,
            1.205675411334678,
            5.594514059728439,
            -3.249334524823899
          ],
          "torque": [
            28.14697265625,
            3.4716796875,
            9.53369140625,
            -1.74560546875,
            4.171142578125,
            2.9278564453125,
            -0.75714111328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.7,
            -8.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.7,
            -8.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -16.4,
            0.4,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -16.4,
            0.4,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -335,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 323,
          "motor_current": 4386,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32707723466273086,
          -0.3126915608993134,
          -0.11963547043068977,
          -1.4419030745267603,
          -0.10248885080232663,
          -0.5526016637181671,
          0.34391999103406423
        ],
        "act_joint_pos_r": [
          -0.45256326014618914,
          -0.35746671529025276,
          0.236844571830695,
          -1.2970358913022795,
          -0.024192264466432967,
          0.8519706127703093,
          -0.2592537885256537
        ],
        "act_eef_pose_l": [
          470.61108750798235,
          360.87029076978365,
          124.0268314478879,
          1.651696116788859,
          -0.08657676410366831,
          0.8320293506229712
        ],
        "act_eef_pose_r": [
          449.56866440420345,
          -354.4051481268787,
          99.4665433469197,
          1.661487540612872,
          0.04127780975796691,
          2.503519417575637
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 11,
      "colors": {
        "rgb_main": "colors/000011_rgb_main.jpg",
        "rgb_wrist_0": "colors/000011_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000011_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000011_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3406835302715967,
          -0.30111809255288335,
          -0.12437631769334476,
          -1.4819884596693567,
          -0.1264725786210265,
          -0.5364673377444041,
          0.3610165243823562
        ],
        "joint_pos_r": [
          -0.4700188021201841,
          -0.30704608694900376,
          0.2646616771628756,
          -1.3116085993197182,
          -0.03168510597283412,
          0.7929905348912459,
          -0.23805284239284888
        ],
        "eef_pose_l": [
          463.8988058272009,
          354.0657074983549,
          123.77368230107153,
          1.6454366358558534,
          -0.07496612242651754,
          0.8239026163319788
        ],
        "eef_pose_r": [
          449.9704891381688,
          -380.57395733179425,
          102.92081894018031,
          1.6811300747359648,
          0.045631839478614517,
          2.411389261996065
        ],
        "joint_status_l": {
          "velocity": [
            -1.4694365870422388,
            -1.2498977176513826,
            0.5119964038400315,
            4.329093915600879,
            2.5901662115507262,
            -1.742455814178978,
            -1.8463711458092114
          ],
          "torque": [
            -29.2529296875,
            2.2412109375,
            -10.4248046875,
            0.67138671875,
            -0.816650390625,
            -3.1329345703125,
            -0.63995361328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.8851429338728742,
            -5.445267261281472,
            -3.004158772948795,
            1.5738060489560723,
            0.8092030165241237,
            6.369660547843381,
            -2.2896346531782186
          ],
          "torque": [
            27.24609375,
            3.47900390625,
            9.100341796875,
            -1.025390625,
            4.4256591796875,
            2.4957275390625,
            -0.772705078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.6,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.6,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.3,
            -1.0,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.3,
            -1.0,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 73,
          "motor_current": -665,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32489751214208923,
          -0.31234267066996657,
          -0.11971591338398692,
          -1.4405847888571663,
          -0.09516093642392076,
          -0.5441140486030641,
          0.33837299894280115
        ],
        "act_joint_pos_r": [
          -0.44517371927970656,
          -0.36705549350166117,
          0.23414515311442063,
          -1.307384645380971,
          -0.04527175989080856,
          0.8509574843288263,
          -0.24203424027936024
        ],
        "act_eef_pose_l": [
          471.91268750798235,
          362.7046907697836,
          123.85563144788767,
          1.6561484448406756,
          -0.08958770368275475,
          0.84044411459547
        ],
        "act_eef_pose_r": [
          448.9550644042035,
          -346.2763481268787,
          98.7913433469198,
          1.6692781082629107,
          0.039021027413406885,
          2.524924984383926
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 12,
      "colors": {
        "rgb_main": "colors/000012_rgb_main.jpg",
        "rgb_wrist_0": "colors/000012_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000012_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000012_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3382007526856931,
          -0.3029813470155263,
          -0.12360602192314535,
          -1.4752498502206042,
          -0.1217028630726943,
          -0.5381619792362823,
          0.3575799957842449
        ],
        "joint_pos_r": [
          -0.46641419024578845,
          -0.3162887528719732,
          0.259820176546362,
          -1.3102422550075004,
          -0.03254999406109337,
          0.8025858136041852,
          -0.23982543320382754
        ],
        "eef_pose_l": [
          465.16310051135673,
          355.3832464251812,
          123.78843193038398,
          1.6469394329432743,
          -0.07724422153789602,
          0.8261739316288786
        ],
        "eef_pose_r": [
          449.990868596754,
          -375.4192001492946,
          102.2004534326796,
          1.678710612219969,
          0.04444549230102191,
          2.4286059929900876
        ],
        "joint_status_l": {
          "velocity": [
            -1.4367076052836936,
            -1.0109931370307912,
            0.42011933147179104,
            3.743716212243342,
            2.8664435368346286,
            -0.6428045331059451,
            -2.0742944808302965
          ],
          "torque": [
            -29.36279296875,
            0.95947265625,
            -10.888671875,
            0.28076171875,
            -0.853271484375,
            -2.698974609375,
            -0.5218505859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.2939032092783584,
            -5.482646285997372,
            -2.7728207506731994,
            0.30861273761928487,
            -1.3739101882942473,
            5.223986365018973,
            -0.23854412867452268
          ],
          "torque": [
            28.1982421875,
            3.7353515625,
            10.009765625,
            -1.397705078125,
            2.6385498046875,
            2.36572265625,
            -0.65093994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -17.1,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.1,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.0,
            -0.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.0,
            -0.3,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -362,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -406,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3198594834611791,
          -0.3146712162742037,
          -0.11859149264205472,
          -1.4257154740919273,
          -0.07243993364744179,
          -0.5531444003294587,
          0.3184521731425573
        ],
        "act_joint_pos_r": [
          -0.4433935304092911,
          -0.39127806012458755,
          0.2234877165294169,
          -1.2825823449836617,
          -0.03366090382467446,
          0.8895092089529645,
          -0.24813410348531686
        ],
        "act_eef_pose_l": [
          473.43188750798237,
          365.5798907697837,
          123.03003144788778,
          1.6647987861862044,
          -0.09221976308164291,
          0.8404106271176763
        ],
        "act_eef_pose_r": [
          449.2966644042035,
          -339.03794812687875,
          95.96654334691993,
          1.6572083941352411,
          0.025289020356591748,
          2.5595765613535844
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 13,
      "colors": {
        "rgb_main": "colors/000013_rgb_main.jpg",
        "rgb_wrist_0": "colors/000013_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000013_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000013_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3352137268945596,
          -0.30492995505247356,
          -0.12277651659720724,
          -1.467246919370832,
          -0.11414668752980216,
          -0.5403523755657639,
          0.3516735806053911
        ],
        "joint_pos_r": [
          -0.4624578148724906,
          -0.327998082216211,
          0.2540780013204983,
          -1.3069382440000945,
          -0.03348910743186846,
          0.8154886170984859,
          -0.24090429465018864
        ],
        "eef_pose_l": [
          466.56580373241104,
          357.02245372365195,
          123.69358100124842,
          1.6495845409076715,
          -0.07981954204406062,
          0.8286527172852793
        ],
        "eef_pose_r": [
          450.0378428190757,
          -369.3942711195781,
          101.16172743462434,
          1.6757663980375566,
          0.041603002402990405,
          2.4494467335697205
        ],
        "joint_status_l": {
          "velocity": [
            -1.6582093845336487,
            -1.05202518412284,
            0.45196925703583357,
            4.485263804337336,
            4.504196575118025,
            -1.3814979293753638,
            -3.587806189298881
          ],
          "torque": [
            -30.08056640625,
            1.025390625,
            -10.455322265625,
            0.6591796875,
            -0.7122802734375,
            -2.808837890625,
            -0.61431884765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.0588819985469797,
            -6.834036054985226,
            -3.3036533213905983,
            2.6303595154679726,
            -0.018553463217885202,
            7.993988150206022,
            -0.780796325837052
          ],
          "torque": [
            28.2275390625,
            1.66259765625,
            9.33837890625,
            -1.007080078125,
            3.24462890625,
            2.71728515625,
            -0.64910888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.2,
            -7.4,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.2,
            -7.4,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -15.9,
            -1.2,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -15.9,
            -1.2,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 17,
          "motor_current": 171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3136227723321488,
          -0.31819622823419585,
          -0.11758623031843496,
          -1.422922500948244,
          -0.06136409725124374,
          -0.5518722942268506,
          0.309544263499394
        ],
        "act_joint_pos_r": [
          -0.4421535955314071,
          -0.41437583482166873,
          0.21461358054691726,
          -1.2561113715748287,
          -0.023102273521791172,
          0.9244451469689974,
          -0.2590438735496664
        ],
        "act_eef_pose_l": [
          474.79668750798237,
          365.0062907697836,
          124.07963144788783,
          1.6667449415825673,
          -0.09595929993685211,
          0.8394425795854262
        ],
        "act_eef_pose_r": [
          450.31586440420347,
          -333.38354812687874,
          93.40334334691966,
          1.6456417852424852,
          0.019128219865015072,
          2.588418787864275
        ],
        "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": [
          0.33311869677142886,
          -0.3062340241593071,
          -0.12224585110074171,
          -1.4623980947596584,
          -0.10879676519619187,
          -0.5417219419436128,
          0.3474071464765783
        ],
        "joint_pos_r": [
          -0.45894717135389484,
          -0.34179293241336456,
          0.24766799923861696,
          -1.2996448569189452,
          -0.032328016824683434,
          0.8325183499092723,
          -0.24341367488891877
        ],
        "eef_pose_l": [
          467.42838221098896,
          357.94233666805684,
          123.6777864393868,
          1.651361339597032,
          -0.08147769207477794,
          0.8298868077870714
        ],
        "eef_pose_r": [
          450.22883884150394,
          -363.3339731480643,
          99.79631138706709,
          1.6714275993284449,
          0.037542666831683884,
          2.4720811775505123
        ],
        "joint_status_l": {
          "velocity": [
            -2.1054977411059106,
            -1.2918799381256285,
            0.5032242026846712,
            4.263238394138114,
            5.122577055720168,
            -1.09620571572977,
            -4.089070760840752
          ],
          "torque": [
            -31.3623046875,
            -1.04736328125,
            -10.9619140625,
            0.506591796875,
            -0.479736328125,
            -2.7008056640625,
            -0.69580078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.813652698001711,
            -7.83872226934168,
            -3.5697719339082834,
            4.701477754490924,
            0.9963508909136554,
            9.927801277602732,
            -1.6880116701176728
          ],
          "torque": [
            26.6748046875,
            4.18212890625,
            9.722900390625,
            -0.970458984375,
            4.2718505859375,
            2.67333984375,
            -0.72784423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.7,
            -8.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.7,
            -8.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -15.9,
            -1.4,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -15.9,
            -1.4,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -377,
          "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": [
          0.31058658444885123,
          -0.3272787788558626,
          -0.11471856785476275,
          -1.4055578581769317,
          -0.051506613636327574,
          -0.5626106354541182,
          0.3035259038343759
        ],
        "act_joint_pos_r": [
          -0.44248036802517815,
          -0.4305219396116723,
          0.21013199273802075,
          -1.2492057251591582,
          -0.0205990288442508,
          0.9393031355009237,
          -0.26798577369884974
        ],
        "act_eef_pose_l": [
          477.35428750798235,
          365.4678907697836,
          122.54283144788775,
          1.6709289215947518,
          -0.09808069065157761,
          0.8353546132737582
        ],
        "act_eef_pose_r": [
          450.2446644042035,
          -326.56594812687865,
          91.46414334691985,
          1.6396337677274841,
          0.01943955053094824,
          2.611444738891577
        ],
        "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": [
          0.32917247855887105,
          -0.30927538693431345,
          -0.12111871834592569,
          -1.4534443665592764,
          -0.09898361375279191,
          -0.5445630065458948,
          0.33973276568707705
        ],
        "joint_pos_r": [
          -0.456019106395756,
          -0.35666095960530786,
          0.24125892273694452,
          -1.2910775093088924,
          -0.030381364656597777,
          0.8506442096773372,
          -0.2473040990218616
        ],
        "eef_pose_l": [
          469.0531688585803,
          359.30033598658747,
          123.62119884727713,
          1.65450394108732,
          -0.08447282838387384,
          0.8312850635374807
        ],
        "eef_pose_r": [
          450.4544970057948,
          -357.1239383636599,
          98.24946091749996,
          1.666440603350173,
          0.033790853724931694,
          2.495491907177284
        ],
        "joint_status_l": {
          "velocity": [
            -2.0072173641705326,
            -1.9443089831989724,
            0.6911958673132546,
            5.1715903773885685,
            5.127364789037303,
            -1.9490864368565397,
            -3.910225754147678
          ],
          "torque": [
            -29.81689453125,
            0.98876953125,
            -11.175537109375,
            1.06201171875,
            -0.90087890625,
            -2.3382568359375,
            -0.809326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4621406204899934,
            -7.976750579004488,
            -3.3616092945174536,
            4.522019318340398,
            1.0564611090786435,
            9.574881592909534,
            -2.2335549899314966
          ],
          "torque": [
            28.0810546875,
            4.94384765625,
            9.48486328125,
            -0.567626953125,
            4.8101806640625,
            2.7685546875,
            -0.706787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.6,
            -7.8,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.7,
            -16.6,
            -7.8,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.0,
            -0.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.0,
            -0.5,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.3146242484399032,
          -0.33518222989797347,
          -0.11207500713722128,
          -1.381098268607302,
          -0.05216750366896848,
          -0.5783109987270103,
          0.30574873098874505
        ],
        "act_joint_pos_r": [
          -0.44859559326392917,
          -0.4436467457327735,
          0.20703257406831024,
          -1.2446307903611915,
          -0.0005401684188424127,
          0.9437838698354494,
          -0.2869698683070141
        ],
        "act_eef_pose_l": [
          479.7950875079824,
          368.5406907697836,
          118.73083144788785,
          1.6751556817451632,
          -0.09573865370571742,
          0.8357063874591283
        ],
        "act_eef_pose_r": [
          451.2454644042035,
          -321.7067481268787,
          90.04814334691991,
          1.6246190928913156,
          0.016884249641976767,
          2.619788775546205
        ],
        "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": [
          0.32623311446710485,
          -0.3131373326581794,
          -0.11976007345138712,
          -1.4428768964472938,
          -0.09064604210160129,
          -0.5491024182415197,
          0.333521997539431
        ],
        "joint_pos_r": [
          -0.4545722445527291,
          -0.36917815495497536,
          0.2362257233995834,
          -1.2842665313956334,
          -0.026901295525584547,
          0.8645478761385073,
          -0.25233173243831697
        ],
        "eef_pose_l": [
          470.7557660235988,
          360.64809394467466,
          123.11377021227098,
          1.6575940474103585,
          -0.0867612683774515,
          0.8320220757666023
        ],
        "eef_pose_r": [
          450.6916299194653,
          -351.96063887991244,
          96.92855861092885,
          1.6612650006957388,
          0.030867726899309573,
          2.513956432128171
        ],
        "joint_status_l": {
          "velocity": [
            -1.2537205544265184,
            -2.380778684583529,
            0.8299626834891161,
            6.671895029693786,
            4.1555595890457875,
            -3.154433657385436,
            -2.9994243241824314
          ],
          "torque": [
            -29.68505859375,
            1.4794921875,
            -10.21728515625,
            1.5380859375,
            -0.60791015625,
            -2.4481201171875,
            -0.69671630859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.645459302385909,
            -8.042370606960336,
            -3.1527671418811742,
            4.280533784124074,
            2.846917762177048,
            8.557234937115688,
            -3.7408083445746865
          ],
          "torque": [
            28.8720703125,
            4.34326171875,
            9.26513671875,
            -1.220703125,
            5.2313232421875,
            2.7685546875,
            -0.6903076171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.7,
            -8.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.7,
            -8.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -16.8,
            0.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -16.8,
            0.5,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.3207562742900029,
          -0.34234766618675166,
          -0.11021111356862823,
          -1.3712885642357873,
          -0.059644800012563656,
          -0.583562813653392,
          0.3157468869253794
        ],
        "act_joint_pos_r": [
          -0.45415668909391016,
          -0.45802503294554864,
          0.20363259358203045,
          -1.2415260145634681,
          -0.0025780213304344994,
          0.9398205559036878,
          -0.28659709728811056
        ],
        "act_eef_pose_l": [
          481.0678875079824,
          368.0358907697837,
          115.26443144788783,
          1.6764684121478173,
          -0.09385231039243021,
          0.8335395051420216
        ],
        "act_eef_pose_r": [
          452.5414644042035,
          -316.2955481268787,
          84.8977433469197,
          1.6280930373277376,
          0.008124987670118029,
          2.627118913981207
        ],
        "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": [
          0.3248272763498333,
          -0.3169000217047393,
          -0.11848520769073513,
          -1.4329291644780893,
          -0.08523969311754945,
          -0.5538413190794359,
          0.3298871428359348
        ],
        "joint_pos_r": [
          -0.4540673304436419,
          -0.38265533552191816,
          0.23113449555419763,
          -1.2774839440833088,
          -0.022742671916027784,
          0.8772335113510722,
          -0.25799406467481434
        ],
        "eef_pose_l": [
          472.2322012949676,
          361.81982226978334,
          122.26068767604367,
          1.6601915389611381,
          -0.088071052758983,
          0.8324743608857096
        ],
        "eef_pose_r": [
          451.063659272061,
          -346.50476806062704,
          95.21321932142602,
          1.6559477622651255,
          0.02738085758369186,
          2.532031214817308
        ],
        "joint_status_l": {
          "velocity": [
            -0.43965525552325246,
            -2.748264548326773,
            0.8935758105778069,
            6.65698848878904,
            2.764166930592671,
            -3.2098267452074225,
            -1.5271025988563558
          ],
          "torque": [
            -30.03662109375,
            2.43896484375,
            -10.21728515625,
            2.20947265625,
            -1.322021484375,
            -2.73193359375,
            -0.77545166015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.009650449603881839,
            -8.139687254508754,
            -2.9701178140515427,
            3.8833418550972,
            2.1777180348839242,
            6.759201459691333,
            -3.089036415976798
          ],
          "torque": [
            27.20947265625,
            3.77197265625,
            8.33740234375,
            -0.482177734375,
            5.0390625,
            2.63671875,
            -0.81390380859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -17.3,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.4,
            -17.3,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.5,
            -1.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.5,
            -1.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3226249390943202,
          -0.3462960490331131,
          -0.10926219449418613,
          -1.3662174666008884,
          -0.06069400584934955,
          -0.5884797252372869,
          0.31885743569434627
        ],
        "act_joint_pos_r": [
          -0.4543930928890978,
          -0.4622851500037688,
          0.2032008497358844,
          -1.2410347012703615,
          -0.017784421195961908,
          0.9350313058281955,
          -0.28241963554701177
        ],
        "act_eef_pose_l": [
          481.53268750798236,
          367.2894907697837,
          113.8828314478879,
          1.6771212073666375,
          -0.0937303172708455,
          0.8297009745486099
        ],
        "act_eef_pose_r": [
          453.0470644042035,
          -314.7275481268787,
          81.76974334692,
          1.6401548599261204,
          0.011663040326001245,
          2.629700907189288
        ],
        "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": [
          0.32421819789255885,
          -0.32204968033709697,
          -0.11683959837664575,
          -1.4208412698827007,
          -0.08049142123010665,
          -0.5598820767716333,
          0.32748126231284697
        ],
        "joint_pos_r": [
          -0.4541108990135685,
          -0.39738372660920446,
          0.22588689714216945,
          -1.2706311209386179,
          -0.02064673836230445,
          0.8885243509403654,
          -0.26292970183520087
        ],
        "eef_pose_l": [
          473.9784754489411,
          362.9432328826522,
          120.83591978385881,
          1.6631931485391311,
          -0.0891907042764416,
          0.8323855051888222
        ],
        "eef_pose_r": [
          451.60712826772556,
          -340.24865531131,
          92.62710024852106,
          1.652180827028762,
          0.02366651776911482,
          2.5514694778428004
        ],
        "joint_status_l": {
          "velocity": [
            -0.17206687536885923,
            -2.618530589737933,
            0.8183354837907331,
            5.899196766929293,
            2.1380578024776664,
            -3.088454945181063,
            -0.9313458062218949
          ],
          "torque": [
            -32.18994140625,
            3.779296875,
            -11.053466796875,
            0.250244140625,
            -0.7196044921875,
            -2.8216552734375,
            -0.64727783203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.03047603971406687,
            -7.00914700287214,
            -2.4500208603761564,
            3.1963190537815933,
            0.3091211369244118,
            5.022602994128711,
            -2.1048507616208134
          ],
          "torque": [
            27.9638671875,
            4.13818359375,
            9.942626953125,
            -0.665283203125,
            5.1287841796875,
            2.713623046875,
            -0.76904296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.6,
            -8.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.6,
            -8.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.8,
            -0.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.8,
            -0.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.3276778244351352,
          -0.35516895681163335,
          -0.10708676440786967,
          -1.3529185763807356,
          -0.06851586924604489,
          -0.5990616163721368,
          0.32849196597557917
        ],
        "act_joint_pos_r": [
          -0.4619030310863645,
          -0.478357325024458,
          0.19930084501651152,
          -1.2327789353496097,
          -0.00807801505557837,
          0.9424646859413057,
          -0.2892584399272309
        ],
        "act_eef_pose_l": [
          482.9654875079824,
          366.4582907697836,
          110.83643144788795,
          1.676609464467754,
          -0.09142179998478836,
          0.8244757817963803
        ],
        "act_eef_pose_r": [
          453.5798644042035,
          -309.15394812687873,
          77.54494334691981,
          1.6333946324990951,
          0.0005937176459452634,
          2.6419997371158406
        ],
        "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": [
          0.32437046773794154,
          -0.32709869946338954,
          -0.11531301098652873,
          -1.4100411356372804,
          -0.07766285920713427,
          -0.5658472162450672,
          0.3267839671707936
        ],
        "joint_pos_r": [
          -0.45500823589226663,
          -0.41067247349681457,
          0.22143572569599893,
          -1.2644666211894813,
          -0.01904535835070893,
          0.8975859751465485,
          -0.2671473959613968
        ],
        "eef_pose_l": [
          475.470388333426,
          363.65707280605767,
          119.35858485767262,
          1.6655287944561488,
          -0.08980928545611087,
          0.8314972628312466
        ],
        "eef_pose_r": [
          452.049752834899,
          -335.44928507341046,
          90.28273064574967,
          1.6497017232603073,
          0.020262897780837924,
          2.5657166667335662
        ],
        "joint_status_l": {
          "velocity": [
            0.35718398871820156,
            -3.0314983843449106,
            0.8884084282893001,
            6.169054453172507,
            0.9878457808437657,
            -3.5870494193552815,
            0.18445843060588274
          ],
          "torque": [
            -22.18505859375,
            3.2958984375,
            -10.77880859375,
            0.982666015625,
            -0.9356689453125,
            -2.4407958984375,
            0.19866943359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7446159196899949,
            -7.309748375480929,
            -2.3904966094561164,
            3.422169139223996,
            1.1844381427384143,
            4.846757818352643,
            -2.387922320305824
          ],
          "torque": [
            20.89599609375,
            3.84521484375,
            9.375,
            -0.25634765625,
            4.9603271484375,
            2.530517578125,
            -0.8441162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.4,
            -8.3,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.4,
            -8.3,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -16.2,
            -0.9,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -16.2,
            -0.9,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33263221972819734,
          -0.3639686437530709,
          -0.10502740693224709,
          -1.3394560712427441,
          -0.08090666487136394,
          -0.6117776597252598,
          0.340770140822693
        ],
        "act_joint_pos_r": [
          -0.4711239605555635,
          -0.49355554588289624,
          0.19592281103185671,
          -1.2278431241734025,
          -0.00035049091353034356,
          0.9390038777495697,
          -0.305964523858253
        ],
        "act_eef_pose_l": [
          484.2598875079824,
          365.46229076978364,
          108.5100314478878,
          1.67271832900777,
          -0.08813982307450585,
          0.8185679748761513
        ],
        "act_eef_pose_r": [
          454.8702644042035,
          -303.9171481268787,
          72.12334334691968,
          1.6309347139895607,
          -2.3166297031063973e-06,
          2.647197047580938
        ],
        "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": [
          0.32531245677049536,
          -0.3326962297638814,
          -0.11371005815862698,
          -1.3989707167720338,
          -0.07693899251380286,
          -0.5726366503807778,
          0.327971233593966
        ],
        "joint_pos_r": [
          -0.45714445526683734,
          -0.42415141839257603,
          0.21718609586884874,
          -1.2583730304753844,
          -0.016337620097777464,
          0.9051766785210098,
          -0.27271848844824736
        ],
        "eef_pose_l": [
          476.92464483098365,
          364.1018314696189,
          117.69271995860929,
          1.667179973038985,
          -0.08983964988125079,
          0.8298506598484541
        ],
        "eef_pose_r": [
          452.6076778969594,
          -330.319912115503,
          87.41171062448399,
          1.646878798143087,
          0.016555894081501734,
          2.5797582834618633
        ],
        "joint_status_l": {
          "velocity": [
            0.7905110845536356,
            -3.377321102071118,
            0.93769867650495,
            6.427392151364231,
            -0.4284959768032781,
            -4.227104337426013,
            1.3822412136770268
          ],
          "torque": [
            -18.83056640625,
            3.8232421875,
            -10.650634765625,
            -0.115966796875,
            -3.017578125,
            -2.8509521484375,
            0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5097420437206743,
            -7.495424703219733,
            -2.296367034669844,
            3.29713263688447,
            1.7265590297621118,
            3.6532297704319205,
            -3.5904659291483565
          ],
          "torque": [
            18.08349609375,
            2.28515625,
            8.673095703125,
            -2.25830078125,
            4.976806640625,
            2.7264404296875,
            -0.596923828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -17.4,
            -8.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -17.4,
            -8.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -16.4,
            -0.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -16.4,
            -0.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -391,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3400514874271359,
          -0.37681719451393597,
          -0.10226165520745477,
          -1.3229664255540152,
          -0.10508280092996596,
          -0.6285456694903837,
          0.3621763301288959
        ],
        "act_joint_pos_r": [
          -0.4818234876867447,
          -0.5110058976022984,
          0.19184159572853915,
          -1.2146486047258036,
          0.020411309961342102,
          0.9417705564192616,
          -0.33272926437547024
        ],
        "act_eef_pose_l": [
          486.03268750798236,
          363.19589076978366,
          105.95483144788778,
          1.6628779485705507,
          -0.08198053008166468,
          0.8103556983469702
        ],
        "act_eef_pose_r": [
          457.1022644042035,
          -299.8411481268787,
          67.31134334691978,
          1.6194476239293223,
          -9.811273337844746e-05,
          2.649238988234658
        ],
        "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": [
          0.32733337355523734,
          -0.3397113843722481,
          -0.1118311761709836,
          -1.3863040146433496,
          -0.07976541790763703,
          -0.5814758873728819,
          0.33222919057752126
        ],
        "joint_pos_r": [
          -0.45970942131565146,
          -0.43481296386900425,
          0.21399323792508082,
          -1.2533624951978977,
          -0.012908868054601551,
          0.9100395938695103,
          -0.2788951414359106
        ],
        "eef_pose_l": [
          478.50414386677966,
          364.1881456514006,
          115.73051001522695,
          1.6674788134588712,
          -0.08889241489088301,
          0.8269705082769345
        ],
        "eef_pose_r": [
          453.17723593390787,
          -326.45615307408224,
          84.95363748077679,
          1.6442448660817035,
          0.01411573873241269,
          2.5893446767871207
        ],
        "joint_status_l": {
          "velocity": [
            1.3735157884822158,
            -4.007309306031992,
            1.033477783263237,
            6.840257879026979,
            -2.7341967255897215,
            -5.083386542217738,
            3.234195684045371
          ],
          "torque": [
            -17.63671875,
            0.8349609375,
            -10.540771484375,
            0.213623046875,
            -3.9971923828125,
            -2.677001953125,
            0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.3882487304467404,
            -8.228594153783853,
            -2.392306799908983,
            4.180976859666785,
            3.5984730944311485,
            3.4268428860446676,
            -5.813913805250648
          ],
          "torque": [
            16.91162109375,
            1.2158203125,
            9.368896484375,
            2.630615234375,
            6.4764404296875,
            2.3895263671875,
            -0.721435546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.8,
            -8.4,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.8,
            -8.4,
            1.2,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -18.0,
            -0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -18.0,
            -0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -337,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34157393867331937,
          -0.38424235461939255,
          -0.1008684200387653,
          -1.3146638166172975,
          -0.10769774053840438,
          -0.6406992225028291,
          0.3635403136464114
        ],
        "act_joint_pos_r": [
          -0.4840278151907302,
          -0.5182084268082168,
          0.19057230250783136,
          -1.212521437411644,
          0.009741268471842535,
          0.9377031539606517,
          -0.34360062939062763
        ],
        "act_eef_pose_l": [
          486.51748750798237,
          360.89429076978365,
          104.84443144788776,
          1.6602603911123637,
          -0.07811846888950949,
          0.8003120439755222
        ],
        "act_eef_pose_r": [
          457.63106440420347,
          -297.2323481268787,
          63.47214334691989,
          1.6286893335223693,
          0.012998709167975964,
          2.653831432529077
        ],
        "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": [
          0.32955492919481644,
          -0.3464491227599361,
          -0.11013833235524488,
          -1.3751785336872395,
          -0.0841520639374295,
          -0.5902577583687305,
          0.33726950755114654
        ],
        "joint_pos_r": [
          -0.46404873569602906,
          -0.4497355684568061,
          0.20971423792718633,
          -1.2458907619411184,
          -0.007379447577022898,
          0.9157446555164696,
          -0.28985563121691055
        ],
        "eef_pose_l": [
          479.8195679483034,
          363.8466173154991,
          114.00961500532169,
          1.6666658648353838,
          -0.08729705580231932,
          0.8232975512685589
        ],
        "eef_pose_r": [
          454.12230161368876,
          -321.30711239432924,
          81.28532001780374,
          1.6405271903878094,
          0.012214008663642133,
          2.601158116894119
        ],
        "joint_status_l": {
          "velocity": [
            1.2980147407799514,
            -4.081548661978296,
            1.0011210036940943,
            6.53539669233183,
            -2.5428580753152907,
            -5.447517460543949,
            2.837163380627228
          ],
          "torque": [
            -16.9921875,
            2.55615234375,
            -10.4248046875,
            0.732421875,
            -4.27001953125,
            -2.5762939453125,
            0.63262939453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.1576769481477243,
            -7.394850602491676,
            -2.0672680544782107,
            3.603780761352482,
            1.848982800444772,
            2.371447889855105,
            -5.804288614419395
          ],
          "torque": [
            19.29931640625,
            2.98095703125,
            9.9609375,
            -1.42822265625,
            5.5426025390625,
            2.523193359375,
            -1.00250244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.6,
            -8.6,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -16.6,
            -8.6,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.0,
            -0.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.0,
            -0.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34279331597280366,
          -0.38579239948600985,
          -0.1006703266967234,
          -1.3119627974625017,
          -0.10981771473996992,
          -0.6453528258750383,
          0.36515898767736304
        ],
        "act_joint_pos_r": [
          -0.49201581173379744,
          -0.5202483060155565,
          0.1904333942972953,
          -1.20805644795173,
          0.023477536122815668,
          0.9390842193079151,
          -0.3554542958250479
        ],
        "act_eef_pose_l": [
          486.4478875079824,
          360.5030907697836,
          104.46443144788788,
          1.658948290111139,
          -0.07680073277569661,
          0.7974623778640917
        ],
        "act_eef_pose_r": [
          457.8366644042035,
          -297.8075481268787,
          61.472143346919665,
          1.622241956914373,
          0.009576324642872653,
          2.649213609688089
        ],
        "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": [
          0.33176791034967196,
          -0.353243044825022,
          -0.10848505104934164,
          -1.3642842747590498,
          -0.0884679913554267,
          -0.5995117662284237,
          0.3420311161550117
        ],
        "joint_pos_r": [
          -0.4674518664394211,
          -0.4610224898384727,
          0.20656532950756012,
          -1.240338672320977,
          -0.0043608267623222,
          0.9193750462489679,
          -0.2988671467996576
        ],
        "eef_pose_l": [
          481.03177818553587,
          363.3122475329315,
          112.34194189096043,
          1.6656054643871099,
          -0.08546328099028191,
          0.8189532185830889
        ],
        "eef_pose_r": [
          454.82157862728917,
          -317.41364112117867,
          78.29423416680717,
          1.638666234699204,
          0.012211852747914686,
          2.6098346682208375
        ],
        "joint_status_l": {
          "velocity": [
            1.1907086892222196,
            -3.515226627318846,
            0.8439653386557167,
            5.650552893879279,
            -2.30570212248149,
            -4.950688429083527,
            2.497736457614863
          ],
          "torque": [
            -18.22998046875,
            4.09423828125,
            -9.991455078125,
            0.48828125,
            -4.3963623046875,
            -2.9534912109375,
            0.6280517578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.6528278508171077,
            -6.396199501304434,
            -1.742197619336583,
            3.486377406675345,
            3.0064545209585978,
            2.128527912790723,
            -6.111231853593413
          ],
          "torque": [
            20.126953125,
            6.26220703125,
            9.381103515625,
            -0.54931640625,
            5.38330078125,
            2.713623046875,
            -0.87432861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -9.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -9.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.6,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.6,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -393,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -196,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34776455572119125,
          -0.3872521460058768,
          -0.10054892119002325,
          -1.3120577128131399,
          -0.12172942489130219,
          -0.6481153065197971,
          0.37538253485165235
        ],
        "act_joint_pos_r": [
          -0.49304701241700366,
          -0.5242697401989529,
          0.18945405367107088,
          -1.1990287107383808,
          0.005927975015887377,
          0.9336340821438601,
          -0.37444653800801553
        ],
        "act_eef_pose_l": [
          486.04788750798235,
          359.5662907697837,
          103.4924314478879,
          1.654574935281743,
          -0.07363111906140409,
          0.7956908302157649
        ],
        "act_eef_pose_r": [
          459.5270644042035,
          -298.9579481268787,
          56.55294334691985,
          1.6399772292263752,
          0.03718464920407296,
          2.646264340278603
        ],
        "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": [
          0.3339388706933768,
          -0.3586992572078802,
          -0.10719159326186334,
          -1.3556897114650959,
          -0.09283664144149645,
          -0.6072470023308906,
          0.3465703659997486
        ],
        "joint_pos_r": [
          -0.4718693298485424,
          -0.4717840644853951,
          0.20364245556987948,
          -1.233979988017867,
          -0.0007041242094626024,
          0.9224668293211961,
          -0.3102416043447634
        ],
        "eef_pose_l": [
          481.91592672566406,
          362.78906862372986,
          110.95775141016195,
          1.6643509752970613,
          -0.0837115203999032,
          0.8152136962357606
        ],
        "eef_pose_r": [
          455.5814026184751,
          -314.08298825724574,
          74.95335402056503,
          1.637175360690667,
          0.013676867988779016,
          2.6166689269549472
        ],
        "joint_status_l": {
          "velocity": [
            1.4931299454898905,
            -3.0836210436420153,
            0.7173874255476109,
            4.712116877952255,
            -3.1203285834067174,
            -4.413646678850469,
            3.1116224636065226
          ],
          "torque": [
            -17.68798828125,
            2.90771484375,
            -9.625244140625,
            0.909423828125,
            -4.2205810546875,
            -2.852783203125,
            0.7012939453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.2871222623281895,
            -5.668285799910411,
            -1.5323022122333274,
            3.774626619524213,
            0.7162455918032591,
            1.2060277349608128,
            -6.933928330346895
          ],
          "torque": [
            18.39111328125,
            5.19287109375,
            8.9111328125,
            -0.225830078125,
            5.1580810546875,
            2.4847412109375,
            -1.03179931640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.9,
            -8.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.3,
            -16.9,
            -8.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -16.4,
            0.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            0.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -375,
          "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": [
          0.34953920329501015,
          -0.38777795545026,
          -0.10059608013894242,
          -1.3139113794763515,
          -0.12212506894610123,
          -0.6500798662006606,
          0.37519476270727675
        ],
        "act_joint_pos_r": [
          -0.4939798653358949,
          -0.5243336978352198,
          0.19021464413005482,
          -1.2104262966802803,
          -0.015165161136244887,
          0.9028126888615335,
          -0.40396893204587514
        ],
        "act_eef_pose_l": [
          485.36468750798235,
          358.33989076978366,
          102.89723144788792,
          1.6544767352771457,
          -0.0713477554154003,
          0.79166118477521
        ],
        "act_eef_pose_r": [
          461.30546440420346,
          -297.9355481268787,
          52.28654334691964,
          1.662158194391542,
          0.07993465177088774,
          2.637927406603963
        ],
        "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": [
          0.33638826451417697,
          -0.36344551870763814,
          -0.10610425962699753,
          -1.3487011897031942,
          -0.09762583310997604,
          -0.6141609662697781,
          0.3512882753937165
        ],
        "joint_pos_r": [
          -0.47544362850154587,
          -0.4804188263553414,
          0.20138560075220668,
          -1.2293678242321788,
          -0.0017118710922492794,
          0.9212370174707721,
          -0.3237330469180736
        ],
        "eef_pose_l": [
          482.5441901921527,
          362.1366757743321,
          109.65203347523394,
          1.6628906243036956,
          -0.08174100883588928,
          0.8115180407016175
        ],
        "eef_pose_r": [
          456.5022223714784,
          -311.54705989379624,
          71.50682153030041,
          1.6398521269964013,
          0.021760213789452178,
          2.620495803889462
        ],
        "joint_status_l": {
          "velocity": [
            1.4202595000152307,
            -2.6278256646277143,
            0.594865840079839,
            3.757188692143032,
            -2.6458394354386128,
            -3.879126783806086,
            2.5818244830215775
          ],
          "torque": [
            -18.74267578125,
            3.955078125,
            -9.9853515625,
            0.531005859375,
            -4.2242431640625,
            -2.8289794921875,
            0.52001953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.0018545365658724,
            -4.7426662423628585,
            -1.2064277335084306,
            2.04562464313085,
            -1.4529124733887004,
            -1.9897688047043616,
            -8.665220026798703
          ],
          "torque": [
            20.85205078125,
            4.2626953125,
            9.490966796875,
            -0.640869140625,
            2.9608154296875,
            1.0821533203125,
            -0.8843994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.6,
            -8.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -8.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.6,
            -0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.6,
            -0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -375,
          "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": [
          0.34902790337201584,
          -0.38695870977576224,
          -0.10085204548699295,
          -1.3157957034007604,
          -0.12083651536364534,
          -0.6496214928058041,
          0.37296141561466356
        ],
        "act_joint_pos_r": [
          -0.5051814965921797,
          -0.5407285674305115,
          0.18651062492133294,
          -1.1982159018332028,
          0.017321436711760452,
          0.9105916953306772,
          -0.43863380659020734
        ],
        "act_eef_pose_l": [
          485.05668750798236,
          358.08629076978366,
          103.21483144788778,
          1.6545649309692014,
          -0.07052758646500225,
          0.7909414569829617
        ],
        "act_eef_pose_r": [
          462.7214644042035,
          -293.5363481268787,
          49.380143346919795,
          1.641040814030008,
          0.08011209534685028,
          2.640022083267422
        ],
        "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": [
          0.3388098446742181,
          -0.3679420087296797,
          -0.10509526665818711,
          -1.3423620913324465,
          -0.10209471135724733,
          -0.6208932051937631,
          0.3555260376916374
        ],
        "joint_pos_r": [
          -0.47998501470442345,
          -0.49003338819767384,
          0.1989925097222176,
          -1.224640947491521,
          -0.000424646452548898,
          0.9188572463321711,
          -0.3418311082640168
        ],
        "eef_pose_l": [
          483.05213116321414,
          361.3853389410551,
          108.39948480642113,
          1.6614367069365483,
          -0.07961002060726272,
          0.8076083892709863
        ],
        "eef_pose_r": [
          457.6181843835052,
          -308.70397125307517,
          67.79776018444687,
          1.6413735598347343,
          0.03204496084712051,
          2.623731131093752
        ],
        "joint_status_l": {
          "velocity": [
            1.103517792844677,
            -2.053743141060771,
            0.4582543709987785,
            2.8690852774744258,
            -2.024055136375602,
            -3.102563556879545,
            1.8829652805942843
          ],
          "torque": [
            -18.69140625,
            4.4970703125,
            -10.052490234375,
            1.47705078125,
            -4.3634033203125,
            -2.9901123046875,
            0.5218505859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.7211397881496957,
            -5.474917883074415,
            -1.348003801248776,
            2.8538207621551237,
            1.9165204569960066,
            -0.8926531807640359,
            -10.454383083681407
          ],
          "torque": [
            19.43115234375,
            2.724609375,
            9.50927734375,
            -1.458740234375,
            4.713134765625,
            1.058349609375,
            -0.633544921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -16.4,
            -0.9,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -16.4,
            -0.9,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -351,
          "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": [
          0.3497826508767031,
          -0.38700685806212465,
          -0.10086755011301042,
          -1.3149740993303431,
          -0.12509649992769334,
          -0.6498073598282256,
          0.3770411521847998
        ],
        "act_joint_pos_r": [
          -0.5156678412638169,
          -0.562823134768993,
          0.18160859198655419,
          -1.176273544023373,
          0.051557747551429944,
          0.9327359896038002,
          -0.47059216226254524
        ],
        "act_eef_pose_l": [
          485.22468750798237,
          358.4270907697837,
          103.31483144788768,
          1.6527305488394266,
          -0.07086753809269272,
          0.7923572133967968
        ],
        "act_eef_pose_r": [
          464.0678644042035,
          -288.2587481268787,
          46.532943346919865,
          1.6146093071804115,
          0.07568289440610995,
          2.6491959295382115
        ],
        "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": [
          0.3405847604465101,
          -0.3710743334234652,
          -0.10439965480627357,
          -1.337891161098368,
          -0.10571262709768732,
          -0.6256394249787506,
          0.3589064679151148
        ],
        "joint_pos_r": [
          -0.4853105075573399,
          -0.5008606525956478,
          0.1963873868361765,
          -1.2178207556179028,
          0.00635604883259116,
          0.9199972529815559,
          -0.36135129149420225
        ],
        "eef_pose_l": [
          483.40971774902414,
          360.8835277491366,
          107.54929061374321,
          1.6601562536673309,
          -0.07811618072451366,
          0.8050008373087627
        ],
        "eef_pose_r": [
          458.71368013120366,
          -305.6696747726552,
          64.46415415651663,
          1.638369754387573,
          0.0393696013883809,
          2.627795368681937
        ],
        "joint_status_l": {
          "velocity": [
            0.9933428693784663,
            -1.7206619127647649,
            0.38145605642747604,
            2.4749696756174444,
            -2.093396524210478,
            -2.6100599841392125,
            1.958488138605663
          ],
          "torque": [
            -18.45703125,
            4.25537109375,
            -9.8876953125,
            -0.140380859375,
            -4.2974853515625,
            -2.9644775390625,
            0.51361083984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.2784953462479116,
            -6.691750712083611,
            -1.5960627704041386,
            4.486966516205726,
            4.881639485374074,
            1.3757429798317844,
            -11.797666089419234
          ],
          "torque": [
            19.3505859375,
            1.76513671875,
            9.381103515625,
            -1.81884765625,
            5.244140625,
            2.6568603515625,
            -0.9942626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.8,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.8,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.2,
            -1.3,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.2,
            -1.3,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -364,
          "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": [
          0.3515647855298299,
          -0.3875818450370875,
          -0.10073128956889084,
          -1.3126596893410898,
          -0.13203134340126438,
          -0.651202058133129,
          0.38280239089116597
        ],
        "act_joint_pos_r": [
          -0.5240451186310007,
          -0.5856892527578681,
          0.17704319011265493,
          -1.154589833878647,
          0.071258038621115,
          0.9541461159828765,
          -0.48515075421846393
        ],
        "act_eef_pose_l": [
          485.4974875079823,
          358.9478907697836,
          103.13243144788777,
          1.6500331684713352,
          -0.07004509870760617,
          0.7941555123754876
        ],
        "act_eef_pose_r": [
          465.0502644042035,
          -282.3443481268787,
          42.66654334691975,
          1.596855079378126,
          0.0649418414926521,
          2.662332394246871
        ],
        "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": [
          0.3422979518429633,
          -0.37375844932341923,
          -0.10380361724281754,
          -1.333862538464149,
          -0.10968179270748507,
          -0.6297699024507831,
          0.36253783987602883
        ],
        "joint_pos_r": [
          -0.49151118696267526,
          -0.5140905234249541,
          0.19332027303832797,
          -1.2083180846938342,
          0.016307582622884894,
          0.9243791312733665,
          -0.38211406913403473
        ],
        "eef_pose_l": [
          483.742650867213,
          360.53444259816746,
          106.82314941144628,
          1.65870110405374,
          -0.07678848972275251,
          0.8030774047391291
        ],
        "eef_pose_r": [
          459.8742346732383,
          -302.05552140888517,
          60.90551751345481,
          1.6325654089631694,
          0.04453716509757175,
          2.6334785327484798
        ],
        "joint_status_l": {
          "velocity": [
            1.000788521501761,
            -1.492882706854104,
            0.33180160281887083,
            2.289840170066171,
            -2.413680287233322,
            -2.3146045480810784,
            2.1885069630722676
          ],
          "torque": [
            -18.99169921875,
            4.6142578125,
            -9.72900390625,
            -0.20751953125,
            -4.4403076171875,
            -2.8729248046875,
            0.552978515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.5135609932366307,
            -7.732434711983149,
            -1.757873110276753,
            5.802479953041839,
            5.934474219847677,
            3.2147395349522156,
            -11.127633797102465
          ],
          "torque": [
            18.02490234375,
            3.75,
            9.08203125,
            -1.788330078125,
            4.94384765625,
            3.2958984375,
            -0.791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.2,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.2,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -16.5,
            0.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -16.5,
            0.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -370,
          "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": [
          0.3522007758921484,
          -0.3881367435152253,
          -0.10062061065743211,
          -1.3113663301757084,
          -0.13472022150748433,
          -0.6522086509663024,
          0.3842435257328804
        ],
        "act_joint_pos_r": [
          -0.5234908074822293,
          -0.5907123690184917,
          0.17655520521388168,
          -1.1549589127792106,
          0.06350853370908283,
          0.952023010228196,
          -0.4839168017484641
        ],
        "act_eef_pose_l": [
          485.64948750798237,
          359.0678907697836,
          103.05643144788797,
          1.6488521773622073,
          -0.06890146938889188,
          0.7945533564880151
        ],
        "act_eef_pose_r": [
          465.1246644042035,
          -279.7107481268787,
          41.3049433469198,
          1.6012755742104336,
          0.06722562871055208,
          2.668169505018554
        ],
        "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": [
          0.3441214939633712,
          -0.376434199982782,
          -0.1032103440725652,
          -1.3297084674983413,
          -0.11421010708605213,
          -0.6339349613362089,
          0.3665312131327592
        ],
        "joint_pos_r": [
          -0.496812006112069,
          -0.5262924352658157,
          0.19060248551455647,
          -1.1995171094896508,
          0.024675608435066672,
          0.9290903399753538,
          -0.3989468405640994
        ],
        "eef_pose_l": [
          484.09395067811556,
          360.243298852207,
          106.10804984229881,
          1.656993418740457,
          -0.07534204274804172,
          0.8013882423212754
        ],
        "eef_pose_r": [
          460.83611746404387,
          -298.6380635980794,
          57.77629267596208,
          1.6272470884495802,
          0.047921603039149475,
          2.6391920190841858
        ],
        "joint_status_l": {
          "velocity": [
            0.8725367142128349,
            -1.2638374266114027,
            0.27968296002645054,
            1.980892407544843,
            -2.215027028784511,
            -1.973500274770501,
            1.9128733436293288
          ],
          "torque": [
            -19.013671875,
            3.94775390625,
            -9.87548828125,
            0.6591796875,
            -4.552001953125,
            -3.028564453125,
            0.5767822265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.8812255707713064,
            -6.957147655187068,
            -1.5170615291348888,
            4.812143318146056,
            4.193832239123618,
            2.476655342261047,
            -9.176485161948467
          ],
          "torque": [
            20.47119140625,
            5.1123046875,
            9.344482421875,
            -1.35498046875,
            5.3228759765625,
            2.9150390625,
            -0.7012939453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.8,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.8,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.0,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.0,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -333,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35283445160307364,
          -0.38856979031400685,
          -0.10056833338905352,
          -1.3115182329863273,
          -0.13993958724275585,
          -0.6484966145787241,
          0.3890909680472687
        ],
        "act_joint_pos_r": [
          -0.523829905350162,
          -0.599823811646596,
          0.1751302074748321,
          -1.1489621854349288,
          0.06097971882267306,
          0.9605947984633628,
          -0.4817475581590818
        ],
        "act_eef_pose_l": [
          486.25828750798235,
          359.4334907697837,
          103.09003144788772,
          1.6473755525984368,
          -0.06935685778750118,
          0.7985410325985485
        ],
        "act_eef_pose_r": [
          464.89106440420346,
          -276.2435481268787,
          40.055343346919926,
          1.5991459295657877,
          0.06363336128465358,
          2.679422658859937
        ],
        "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": [
          0.3455211959895284,
          -0.37840690978594854,
          -0.10277870486225736,
          -1.3267102468064584,
          -0.11817084220972032,
          -0.6365201940224512,
          0.3699900337961983
        ],
        "joint_pos_r": [
          -0.5012270003473185,
          -0.5376653160128353,
          0.1881707909910234,
          -1.1916769156796458,
          0.03084237080809353,
          0.9335965594056698,
          -0.41272919856175255
        ],
        "eef_pose_l": [
          484.4189338688015,
          360.0873202825302,
          105.60572391782749,
          1.655523879125165,
          -0.07430638368115068,
          0.8006783561772056
        ],
        "eef_pose_r": [
          461.6174233895986,
          -295.27721393045,
          54.93994004893062,
          1.622956590093401,
          0.050659371155205815,
          2.645230237168138
        ],
        "joint_status_l": {
          "velocity": [
            0.7898083121116173,
            -1.0975587262658237,
            0.23871307864020697,
            1.6406891030360526,
            -2.350955125852705,
            -1.2934152728334425,
            2.062840058899784
          ],
          "torque": [
            -18.0322265625,
            4.72412109375,
            -9.66796875,
            0.555419921875,
            -4.4915771484375,
            -3.035888671875,
            0.52825927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.441041745629313,
            -6.712919541467244,
            -1.4083414829368923,
            4.613054811651196,
            3.25473759222053,
            2.9157238235528737,
            -7.453762999522606
          ],
          "torque": [
            19.91455078125,
            3.30322265625,
            9.613037109375,
            -0.86669921875,
            5.3302001953125,
            3.017578125,
            -0.62255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.8,
            -8.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.8,
            -8.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.2,
            -1.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.2,
            -1.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -318,
          "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": [
          0.3515004362467181,
          -0.3892431507835216,
          -0.10048692117127432,
          -1.3122637416386886,
          -0.14185057049234984,
          -0.6444393371206569,
          0.3924093938760266
        ],
        "act_joint_pos_r": [
          -0.5281836510262083,
          -0.608147531708458,
          0.17384721495319091,
          -1.1435293490654752,
          0.06654819121094091,
          0.9677635698460509,
          -0.4852815079304045
        ],
        "act_eef_pose_l": [
          486.96068750798236,
          359.4366907697837,
          103.68043144788777,
          1.6463681867421203,
          -0.07207587774500107,
          0.8013153002517246
        ],
        "act_eef_pose_r": [
          464.52066440420344,
          -273.32914812687875,
          38.20094334691976,
          1.5932747636901794,
          0.05787540838612584,
          2.6862845135557576
        ],
        "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": [
          0.34657292704652176,
          -0.3801536238447833,
          -0.10240614331603087,
          -1.324296875886324,
          -0.12196516311578844,
          -0.6380312270643139,
          0.37350459884582604
        ],
        "joint_pos_r": [
          -0.5059910764414645,
          -0.5503548485386247,
          0.18556086067541805,
          -1.1829891912467034,
          0.037167809193304584,
          0.9395091720594914,
          -0.4261750085313633
        ],
        "eef_pose_l": [
          484.80036320770523,
          359.9771938261588,
          105.25745672181893,
          1.654086046041036,
          -0.07378226932290902,
          0.800611261910386
        ],
        "eef_pose_r": [
          462.2963959910774,
          -291.39542853389594,
          51.883983066868154,
          1.618002191833192,
          0.052318053316869326,
          2.6527622147517604
        ],
        "joint_status_l": {
          "velocity": [
            0.5321552985395606,
            -0.9816399574607004,
            0.20726987853547651,
            1.2995401708568721,
            -2.1475606577526785,
            -0.69205547499962,
            2.0416576477879644
          ],
          "torque": [
            -18.53759765625,
            3.1640625,
            -9.722900390625,
            0.445556640625,
            -4.464111328125,
            -2.783203125,
            0.626220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.3967273674569967,
            -6.24142570133035,
            -1.2650364277455584,
            4.261537268250848,
            3.1729876756355635,
            3.0513849651594427,
            -6.3833136693229875
          ],
          "torque": [
            21.005859375,
            4.3505859375,
            9.31396484375,
            -1.86767578125,
            5.09765625,
            3.2318115234375,
            -0.83404541015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.0,
            -9.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -17.0,
            -9.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -16.9,
            -1.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.9,
            -1.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -349,
          "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": [
          0.3504416490681605,
          -0.3917952549768897,
          -0.09982112913209164,
          -1.3034598842801652,
          -0.13612415829415211,
          -0.6479352943679122,
          0.3880009292413779
        ],
        "act_joint_pos_r": [
          -0.5284658086644254,
          -0.6201775943167652,
          0.17193129287771375,
          -1.134716102253072,
          0.046405105517914436,
          0.9736821109827272,
          -0.4841709015156791
        ],
        "act_eef_pose_l": [
          488.1198875079824,
          360.83589076978365,
          102.86363144788771,
          1.6496007213660613,
          -0.07311900659352118,
          0.8027058058414343
        ],
        "act_eef_pose_r": [
          464.1486644042035,
          -269.03074812687873,
          33.52894334691973,
          1.6055861154944258,
          0.06453086574748776,
          2.702377637709945
        ],
        "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": [
          0.34729205173288347,
          -0.38186708934246416,
          -0.10203345002520935,
          -1.3215625578873749,
          -0.12474241352144598,
          -0.6393849437616451,
          0.3762338342129657
        ],
        "joint_pos_r": [
          -0.5099429750674008,
          -0.5617696534025084,
          0.18329922205746516,
          -1.1751357480290885,
          0.04035897163063889,
          0.9450934760169937,
          -0.4365150678402786
        ],
        "eef_pose_l": [
          485.25611238749303,
          360.0078415558079,
          104.92743141216373,
          1.6531031911397145,
          -0.07357777748538943,
          0.800830148178551
        ],
        "eef_pose_r": [
          462.7544088259717,
          -287.82009698540793,
          48.96841114307645,
          1.6150315716172128,
          0.053872831554718975,
          2.6604394598325465
        ],
        "joint_status_l": {
          "velocity": [
            0.3401464801253695,
            -1.0722102653661914,
            0.23892360978150506,
            1.9550310890181777,
            -1.2291921823666119,
            -0.9234106309365941,
            1.2708087825665793
          ],
          "torque": [
            -19.13818359375,
            3.5595703125,
            -9.716796875,
            0.750732421875,
            -4.51171875,
            -2.6568603515625,
            0.46142578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.000407029626672,
            -6.307871578012048,
            -1.227700142333088,
            4.365192999323142,
            0.652963201705492,
            3.0874815158989932,
            -5.146678243782343
          ],
          "torque": [
            19.1162109375,
            3.720703125,
            8.69140625,
            -1.507568359375,
            4.984130859375,
            3.533935546875,
            -0.6060791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.9,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.9,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.9,
            -0.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.9,
            -0.5,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -312,
          "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": [
          0.34957291547784963,
          -0.39147477447113765,
          -0.09991865618347948,
          -1.3047570440584797,
          -0.1334298740453205,
          -0.6456194338917766,
          0.3852667254357662
        ],
        "act_joint_pos_r": [
          -0.5301802515932472,
          -0.6275799172402914,
          0.17083318067427042,
          -1.1291352149880596,
          0.04345282261277017,
          0.9761832222477627,
          -0.488085149574642
        ],
        "act_eef_pose_l": [
          488.1942875079824,
          360.7854907697837,
          102.95803144788789,
          1.650956218221461,
          -0.07317394887292249,
          0.8034112380984498
        ],
        "act_eef_pose_r": [
          464.44226440420346,
          -266.7659481268787,
          31.29934334691984,
          1.6071730865508138,
          0.06666022868706348,
          2.707535962520095
        ],
        "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": [
          0.3476384874734654,
          -0.3830996307655005,
          -0.10176031682449695,
          -1.3193566055596355,
          -0.12602019625708713,
          -0.6403278994680863,
          0.3775578597324698
        ],
        "joint_pos_r": [
          -0.5131815051066037,
          -0.5722069455103953,
          0.18130647343539355,
          -1.16786118369239,
          0.04101978390620408,
          0.9500755467335625,
          -0.44479115944687897
        ],
        "eef_pose_l": [
          485.6227002794766,
          360.109921140235,
          104.67253970615691,
          1.6527440828514834,
          -0.07351524666722115,
          0.8011024738961546
        ],
        "eef_pose_r": [
          463.11639662379525,
          -284.52482474743914,
          46.15090886417971,
          1.6137973273154105,
          0.05581549084591752,
          2.667969862969985
        ],
        "joint_status_l": {
          "velocity": [
            0.20891206294137987,
            -0.9044888437359511,
            0.19889348318025135,
            1.576706139664097,
            -0.8002215998547113,
            -0.5714688631845988,
            0.8325329417093741
          ],
          "torque": [
            -18.62548828125,
            5.09765625,
            -10.113525390625,
            1.068115234375,
            -4.434814453125,
            -2.6513671875,
            0.60333251953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.8358104762215,
            -5.980104573072076,
            -1.1310822587133895,
            4.182281270276533,
            0.2627604306044695,
            2.819545797474454,
            -4.675613033963355
          ],
          "torque": [
            19.21875,
            3.72802734375,
            8.782958984375,
            -2.34375,
            5.0592041015625,
            3.497314453125,
            -0.7745361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -17.0,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.0,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.9,
            -1.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.9,
            -1.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -309,
          "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": [
          0.3503717754543111,
          -0.39194829518000246,
          -0.09982582391901358,
          -1.304041900236568,
          -0.13626496802296797,
          -0.6456111724414477,
          0.38725365489673036
        ],
        "act_joint_pos_r": [
          -0.5374093817959538,
          -0.6474351123483122,
          0.16780534385573181,
          -1.1173504797190752,
          0.05045267664695752,
          0.9849927424747655,
          -0.4930244994698047
        ],
        "act_eef_pose_l": [
          488.36068750798233,
          360.87669076978364,
          102.79643144788776,
          1.6500263991199438,
          -0.07235532994594347,
          0.8042664600114944
        ],
        "act_eef_pose_r": [
          464.6174644042035,
          -259.8547481268787,
          26.92734334691977,
          1.5990434655008916,
          0.05601063616288195,
          2.7198611969637057
        ],
        "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": [
          0.34814057367931395,
          -0.38493656898641565,
          -0.10135765578791743,
          -1.316166898790644,
          -0.1279180230361861,
          -0.6414538108225254,
          0.3794236899407987
        ],
        "joint_pos_r": [
          -0.5167917752144088,
          -0.5835505200941983,
          0.1792430432944536,
          -1.1601649922433124,
          0.04220964741465365,
          0.955361617964609,
          -0.4524658597018917
        ],
        "eef_pose_l": [
          486.1907092647198,
          360.2649143013492,
          104.28923772623529,
          1.6522605688515222,
          -0.07334181833228352,
          0.8016855648546851
        ],
        "eef_pose_r": [
          463.4717974474925,
          -280.8812157791231,
          43.18007726330123,
          1.6119657333334876,
          0.05632734054433979,
          2.675941064344214
        ],
        "joint_status_l": {
          "velocity": [
            0.24096268488493777,
            -0.7572440951868487,
            0.1654329626572526,
            1.3094612233466307,
            -0.9014434719183395,
            -0.44898181283237193,
            0.8456112752690537
          ],
          "torque": [
            -18.17138671875,
            4.48974609375,
            -10.107421875,
            0.555419921875,
            -4.4036865234375,
            -3.0889892578125,
            0.53741455078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.2266358396931807,
            -6.899332478510267,
            -1.2352351080699986,
            4.623830980014176,
            0.8902209014268192,
            3.200067066162937,
            -4.380203907725644
          ],
          "torque": [
            20.57373046875,
            2.80517578125,
            8.734130859375,
            -2.2705078125,
            4.9237060546875,
            3.6767578125,
            -0.8880615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.9,
            -12.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.9,
            -12.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -16.4,
            -1.6,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -16.4,
            -1.6,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -318,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3497533355193464,
          -0.3925069677900906,
          -0.09969972056973767,
          -1.3026000030466842,
          -0.13533234659872334,
          -0.6462948496410097,
          0.3862424552955948
        ],
        "act_joint_pos_r": [
          -0.5437502922614166,
          -0.6651949297372226,
          0.16523108617892715,
          -1.1048381177875657,
          0.05129776904721739,
          0.9952187313444157,
          -0.4975582235567029
        ],
        "act_eef_pose_l": [
          488.60388750798234,
          361.0198907697836,
          102.87403144788783,
          1.6501785137677336,
          -0.07249160281307891,
          0.8043074796861229
        ],
        "act_eef_pose_r": [
          464.3406644042035,
          -253.9211481268787,
          22.305743346919826,
          1.5952996609989054,
          0.04987489912109292,
          2.7333210706492888
        ],
        "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": [
          0.34848441668341124,
          -0.38633245010660294,
          -0.1010521910052545,
          -1.3136931141212476,
          -0.12937837458271803,
          -0.6423258644938928,
          0.3807764105356221
        ],
        "joint_pos_r": [
          -0.5211526676292496,
          -0.5968499210172697,
          0.1769302753729271,
          -1.1511830962413612,
          0.04376244689435617,
          0.9617545793416697,
          -0.4601485664148352
        ],
        "eef_pose_l": [
          486.632652051726,
          360.3991565578041,
          104.01673482717999,
          1.651858944972162,
          -0.07316677380208543,
          0.802175339346332
        ],
        "eef_pose_r": [
          463.79114343471866,
          -276.5597704598508,
          39.736600440757144,
          1.6094889791005216,
          0.05548900111246666,
          2.685319273345696
        ],
        "joint_status_l": {
          "velocity": [
            0.13703919252572305,
            -0.6668282427688688,
            0.14606249915272151,
            1.198020662322108,
            -0.6430100131619154,
            -0.4286377538935682,
            0.5903154236541752
          ],
          "torque": [
            -17.76123046875,
            4.1162109375,
            -10.076904296875,
            0.69580078125,
            -4.3377685546875,
            -3.017578125,
            0.55755615234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.4404714824148854,
            -7.381043249520047,
            -1.2634751687436996,
            5.005110055181561,
            0.8137907910325537,
            3.614021826420455,
            -4.040123814239127
          ],
          "torque": [
            19.65087890625,
            1.6552734375,
            8.60595703125,
            -2.42919921875,
            4.918212890625,
            3.5028076171875,
            -0.57769775390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.5,
            -7.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.5,
            -7.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -16.5,
            -3.0,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -16.5,
            -3.0,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -358,
          "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": [
          0.3492959403356497,
          -0.39397060338741396,
          -0.09946113342907209,
          -1.3024725607624628,
          -0.13543440106967256,
          -0.6511167642430294,
          0.3850728312323389
        ],
        "act_joint_pos_r": [
          -0.5496932363910831,
          -0.6738357809897122,
          0.16424056093723255,
          -1.1015025645040466,
          0.06178181591740328,
          0.9923506369254335,
          -0.5176840849034956
        ],
        "act_eef_pose_l": [
          488.21748750798236,
          359.6462907697836,
          103.23963144788792,
          1.648184015235878,
          -0.07078262234394583,
          0.798711272406616
        ],
        "act_eef_pose_r": [
          465.0934644042035,
          -251.0515481268787,
          20.013743346919682,
          1.5890658685097687,
          0.05690455610338364,
          2.7315350778058947
        ],
        "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": [
          0.348605044235373,
          -0.38723627902434843,
          -0.10086125909785386,
          -1.312284195730697,
          -0.13013746939288834,
          -0.6432401770906981,
          0.3813647967127384
        ],
        "joint_pos_r": [
          -0.5258970576632599,
          -0.6100228280425432,
          0.17473693267717988,
          -1.1425685622784367,
          0.04641597278429978,
          0.9673098805661965,
          -0.46929920389584556
        ],
        "eef_pose_l": [
          486.84840615683765,
          360.35976787532127,
          103.90351642132217,
          1.6514788796642188,
          -0.07293107226689766,
          0.8019616704628384
        ],
        "eef_pose_r": [
          464.12501664496307,
          -272.259217475751,
          36.32142452185974,
          1.6064104552306542,
          0.05529030623538104,
          2.693725766704846
        ],
        "joint_status_l": {
          "velocity": [
            0.0746145781906904,
            -0.7272855810693812,
            0.15120911255406266,
            1.05962532459003,
            -0.5720517493281729,
            -0.8506463239790207,
            0.40045591730075714
          ],
          "torque": [
            -17.55615234375,
            3.1494140625,
            -10.125732421875,
            -0.213623046875,
            -4.361572265625,
            -3.1329345703125,
            0.49896240234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.569911507116718,
            -6.891595661544514,
            -1.1335747149152642,
            4.434996956391046,
            1.6594621151562738,
            2.7043219270854735,
            -5.225413033506765
          ],
          "torque": [
            20.5517578125,
            3.83056640625,
            8.697509765625,
            -2.471923828125,
            4.951171875,
            3.4515380859375,
            -0.81573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.0,
            -1.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.0,
            -1.3,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -391,
          "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": [
          0.3499352443476528,
          -0.39658841075311807,
          -0.09888969902856426,
          -1.2970778113584964,
          -0.13822236323192036,
          -0.6587034678352391,
          0.38712173891173257
        ],
        "act_joint_pos_r": [
          -0.5562774531742525,
          -0.6786465527511832,
          0.16372766200684552,
          -1.0979916357894541,
          0.08200537883709558,
          0.9820703604743813,
          -0.5598149618957973
        ],
        "act_eef_pose_l": [
          488.38868750798235,
          359.33269076978365,
          103.07323144788762,
          1.6456668616958128,
          -0.06966738163460418,
          0.7949118364060282
        ],
        "act_eef_pose_r": [
          467.6326644042035,
          -251.0299481268787,
          18.370543346919703,
          1.5809116796937879,
          0.08109316211584063,
          2.71569071120433
        ],
        "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": [
          0.3487647192692514,
          -0.388532119031283,
          -0.10058988354819726,
          -1.3102822378353225,
          -0.13120927720409772,
          -0.6450820658792833,
          0.38212211012094055
        ],
        "joint_pos_r": [
          -0.5301641011286576,
          -0.6201878251420897,
          0.1730926194251471,
          -1.135985730358582,
          0.050759973058877125,
          0.9700884145608278,
          -0.48083434731718505
        ],
        "eef_pose_l": [
          487.0867024048674,
          360.2200297301086,
          103.7807168895648,
          1.6507637973453377,
          -0.07248977622050978,
          0.8011499521580412
        ],
        "eef_pose_r": [
          464.6200108947719,
          -269.08440224957525,
          33.666724087708076,
          1.6030594498757604,
          0.05788431381859624,
          2.6981191005755902
        ],
        "joint_status_l": {
          "velocity": [
            0.126412980115731,
            -0.870053845091423,
            0.18361451269988116,
            1.4260360008133688,
            -0.7573909529526857,
            -1.471068024410549,
            0.5399439846085485
          ],
          "torque": [
            -17.26318359375,
            4.27734375,
            -10.43701171875,
            -0.347900390625,
            -4.2333984375,
            -3.1622314453125,
            0.5859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.820158844785148,
            -6.313356379289203,
            -1.0113855719535714,
            4.103241194835405,
            3.3744043013125835,
            1.2940119938198436,
            -8.529654805768505
          ],
          "torque": [
            20.9765625,
            4.27001953125,
            8.3984375,
            -1.275634765625,
            5.474853515625,
            3.08349609375,
            -0.8990478515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.7,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.7,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -16.9,
            0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -16.9,
            0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -349,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35017708122092384,
          -0.39720896736125677,
          -0.09877907070919001,
          -1.296514019581182,
          -0.139919529249555,
          -0.6587563352946509,
          0.3881266061641636
        ],
        "act_joint_pos_r": [
          -0.5582617795411222,
          -0.6832937547543638,
          0.16311153120675165,
          -1.0922183762827915,
          0.09040372693442712,
          0.977875465780992,
          -0.5756363477234613
        ],
        "act_eef_pose_l": [
          488.56868750798236,
          359.2614907697837,
          103.05323144788787,
          1.6449014136097153,
          -0.06908089886398473,
          0.7952107140353212
        ],
        "act_eef_pose_r": [
          469.6726644042035,
          -250.98914812687872,
          17.29694334691976,
          1.5781892034691,
          0.08963214807045543,
          2.707534489271722
        ],
        "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": [
          0.348992448311178,
          -0.39000983617386686,
          -0.10027977522351604,
          -1.3078991624839909,
          -0.132595012333173,
          -0.6474949848271568,
          0.38309239040961374
        ],
        "joint_pos_r": [
          -0.5353505611390239,
          -0.6318243406290599,
          0.1712446493681409,
          -1.1280758816259395,
          0.057724887545527764,
          0.9718247987873994,
          -0.4977584502014007
        ],
        "eef_pose_l": [
          487.3334221808291,
          360.0568678251975,
          103.6515631996164,
          1.6498085408454106,
          -0.07192979508375617,
          0.80006763419757
        ],
        "eef_pose_r": [
          465.53631897823936,
          -265.7146773671471,
          30.642569513372422,
          1.5985416120502174,
          0.06330625279860311,
          2.7007307168809946
        ],
        "joint_status_l": {
          "velocity": [
            0.12793658096477145,
            -0.7774832375955221,
            0.16207130750955923,
            1.2295591695945518,
            -0.791024496948789,
            -1.2161899808837973,
            0.5436792665287626
          ],
          "torque": [
            -17.5634765625,
            3.017578125,
            -9.99755859375,
            0.7568359375,
            -4.3157958984375,
            -2.90771484375,
            0.59967041015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.474338610710003,
            -5.558532785371106,
            -0.8783508558565245,
            3.872496363886313,
            3.52921056549943,
            0.6534527627488629,
            -8.410564876030868
          ],
          "torque": [
            20.42724609375,
            3.0615234375,
            8.831787109375,
            -1.788330078125,
            5.45654296875,
            3.460693359375,
            -0.79010009765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -8.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -8.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.4,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.4,
            -1.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -383,
          "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": [
          0.34956587375101034,
          -0.39833172120421817,
          -0.09853937129496407,
          -1.29414886425025,
          -0.1398000271389947,
          -0.660847299084021,
          0.3886128381702736
        ],
        "act_joint_pos_r": [
          -0.5636799523843714,
          -0.6958172649691965,
          0.16136270523511326,
          -1.0795387402905396,
          0.09976995291185631,
          0.9779950610781376,
          -0.5916737262881508
        ],
        "act_eef_pose_l": [
          488.86148750798236,
          359.2830907697836,
          103.18683144788776,
          1.6443176057792488,
          -0.06994439156681918,
          0.7944035841260365
        ],
        "act_eef_pose_r": [
          471.72546440420354,
          -248.7019481268787,
          13.769743346919995,
          1.5743166647417206,
          0.09297202051780165,
          2.703437035632134
        ],
        "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": [
          0.34915167930197993,
          -0.39125858275127595,
          -0.10001913751869311,
          -1.3058900594191707,
          -0.13379218451301225,
          -0.6494678037813472,
          0.3839482468391141
        ],
        "joint_pos_r": [
          -0.5396559782543886,
          -0.6415313257576556,
          0.16973365534274376,
          -1.1209198924099972,
          0.0640287499037447,
          0.9728313957932306,
          -0.5121563744676827
        ],
        "eef_pose_l": [
          487.5542739541028,
          359.9272887935631,
          103.55913424002978,
          1.6489766444836471,
          -0.07150333738826746,
          0.7992183108090478
        ],
        "eef_pose_r": [
          466.4932538575953,
          -263.1083741115811,
          28.109340705079205,
          1.5947761748131604,
          0.0679367453882855,
          2.701703043300518
        ],
        "joint_status_l": {
          "velocity": [
            0.04473168120444626,
            -0.7638764235871065,
            0.15981003881770928,
            1.268011680238601,
            -0.6488278674510184,
            -1.228949246767641,
            0.5037610061284781
          ],
          "torque": [
            -20.44189453125,
            3.6474609375,
            -9.991455078125,
            0.98876953125,
            -4.4439697265625,
            -3.251953125,
            0.5218505859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.594512684976902,
            -5.8627085235007925,
            -0.9040359485092964,
            4.4690326218308485,
            3.859936082146631,
            0.5576594034844007,
            -8.58762071827579
          ],
          "torque": [
            20.09033203125,
            3.310546875,
            8.2275390625,
            -1.55029296875,
            5.2734375,
            3.2684326171875,
            -0.90087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.0,
            -0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.0,
            -0.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -303,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -5,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35025070652101525,
          -0.39571432779058907,
          -0.09913749399728111,
          -1.3004370139478678,
          -0.14635321520080008,
          -0.6552678211424066,
          0.39501875311233187
        ],
        "act_joint_pos_r": [
          -0.5656751151093619,
          -0.709103873959984,
          0.15957703174558602,
          -1.0670936437625835,
          0.09216578737094405,
          0.9820149896247382,
          -0.5919744002695352
        ],
        "act_eef_pose_l": [
          488.44388750798237,
          359.18229076978366,
          103.98683144788794,
          1.6415522369485738,
          -0.07105611313751942,
          0.7975165250338904
        ],
        "act_eef_pose_r": [
          472.52146440420347,
          -245.0539481268787,
          9.727343346919724,
          1.5791474846784743,
          0.09290029696763984,
          2.711116569535484
        ],
        "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": [
          0.34928879486117104,
          -0.39237087110385377,
          -0.09979077711584282,
          -1.304210601314913,
          -0.13549071571711604,
          -0.6511397520815534,
          0.38538020506367365
        ],
        "joint_pos_r": [
          -0.544128758644622,
          -0.6526288346621438,
          0.16805210055118422,
          -1.1121990169959002,
          0.06949001956274185,
          0.9741979953131839,
          -0.5262496396716843
        ],
        "eef_pose_l": [
          487.7657900793625,
          359.7961726175648,
          103.55596275966985,
          1.647865280527829,
          -0.07129735205435268,
          0.7985692588716612
        ],
        "eef_pose_r": [
          467.5992757872437,
          -260.2095603549722,
          25.124827658054585,
          1.5916795531916117,
          0.07231152909843049,
          2.703068437718986
        ],
        "joint_status_l": {
          "velocity": [
            0.10388339538591751,
            -0.36108267260281934,
            0.0705524959699888,
            0.4075354160253397,
            -1.1731153450502685,
            -0.44581830986345494,
            1.0409324885922722
          ],
          "torque": [
            -17.38037109375,
            3.72802734375,
            -9.588623046875,
            0.506591796875,
            -4.5355224609375,
            -2.9022216796875,
            0.64727783203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.326937868827539,
            -6.099124360108732,
            -0.9152804362511091,
            4.87123663975364,
            2.4489106965256413,
            0.8442104869903488,
            -7.098064798336967
          ],
          "torque": [
            21.20361328125,
            1.435546875,
            8.984375,
            -2.33154296875,
            5.108642578125,
            3.7957763671875,
            -0.626220703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.2,
            -9.7,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.2,
            -9.7,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            -1.7,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            -1.7,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -374,
          "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": [
          0.3510867264606903,
          -0.3944845349848227,
          -0.09937073806679282,
          -1.301561827431721,
          -0.145214944237635,
          -0.654976074732568,
          0.3925902086080803
        ],
        "act_joint_pos_r": [
          -0.5688001052834578,
          -0.7250828929037252,
          0.15741706146828355,
          -1.0482570519604595,
          0.09629856832772042,
          0.9986886158535017,
          -0.5913426443769279
        ],
        "act_eef_pose_l": [
          488.03268750798236,
          359.39429076978365,
          103.64203144788786,
          1.6427470322654298,
          -0.06916730153407746,
          0.7976964218931528
        ],
        "act_eef_pose_r": [
          473.0838644042035,
          -241.3475481268787,
          7.162543346919847,
          1.5714666197053344,
          0.0841322282498375,
          2.7207158158533495
        ],
        "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": [
          0.3495424341219086,
          -0.3928972865789812,
          -0.09968731475045993,
          -1.3035938589531761,
          -0.13744636951194802,
          -0.6518950533081106,
          0.3869936704035337
        ],
        "joint_pos_r": [
          -0.5485544516492324,
          -0.6651078287423681,
          0.16620626115495213,
          -1.1015468547892575,
          0.07424293514600978,
          0.9775571961434493,
          -0.5386027673186111
        ],
        "eef_pose_l": [
          487.85829575222186,
          359.6972186480707,
          103.60706118141285,
          1.6467781982693257,
          -0.07108636837938818,
          0.7983798551647122
        ],
        "eef_pose_r": [
          468.6953179857791,
          -256.99671424162887,
          21.916943195237565,
          1.588473842642009,
          0.07513401929982215,
          2.705837210537702
        ],
        "joint_status_l": {
          "velocity": [
            0.1667786537149496,
            -0.17141777213369735,
            0.03418927347731415,
            0.21945293189951087,
            -0.8389813259426226,
            -0.33274050018494705,
            0.6044083000209532
          ],
          "torque": [
            -16.50146484375,
            3.64013671875,
            -13.983154296875,
            0.482177734375,
            -4.544677734375,
            -2.8692626953125,
            0.67657470703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.1864661061252733,
            -6.477115897104646,
            -0.9492055708384406,
            5.755128967055434,
            2.381938132114736,
            2.282126020975994,
            -5.695738735463696
          ],
          "torque": [
            21.9140625,
            2.57080078125,
            8.70361328125,
            -1.86767578125,
            4.9346923828125,
            3.7445068359375,
            -0.72967529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.9,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.9,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.9,
            -2.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.9,
            -2.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -354,
          "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": [
          0.35261215624597225,
          -0.3917892533637344,
          -0.0998494531602667,
          -1.3028892119023272,
          -0.14623198337134946,
          -0.6541652497676969,
          0.3935033750557405
        ],
        "act_joint_pos_r": [
          -0.5679852060006856,
          -0.7369040135613665,
          0.15600347988502836,
          -1.036906935078782,
          0.08926010332104141,
          1.0093743502646884,
          -0.5863489814413652
        ],
        "act_eef_pose_l": [
          487.4854875079824,
          360.3862907697836,
          103.35883144788778,
          1.6434516404990362,
          -0.0689234176077353,
          0.7999144019849774
        ],
        "act_eef_pose_r": [
          473.1414644042035,
          -237.6035481268787,
          5.493743346919928,
          1.5714609796571166,
          0.0813501573225087,
          2.7332520594954337
        ],
        "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": [
          0.3499254641450428,
          -0.39298359092341684,
          -0.09966585752662444,
          -1.3033302854382398,
          -0.138893249133616,
          -0.6523813419003275,
          0.3880490263056955
        ],
        "joint_pos_r": [
          -0.5513213417685845,
          -0.6741315754191312,
          0.16490237698105714,
          -1.0934797616888121,
          0.07689977110603834,
          0.9811155113839004,
          -0.545643684543118
        ],
        "eef_pose_l": [
          487.84943315238155,
          359.7145062493114,
          103.59237953165204,
          1.6461178665594765,
          -0.07072776332019463,
          0.798416024855887
        ],
        "eef_pose_r": [
          469.38233776020627,
          -254.6548948039227,
          19.754689469393952,
          1.586156189772969,
          0.0761564214788771,
          2.708729324183569
        ],
        "joint_status_l": {
          "velocity": [
            0.29015418926015,
            0.1289846522469773,
            -0.01982774364528428,
            0.04763453697442799,
            -0.7925599223698176,
            -0.19265636757914706,
            0.5890522918363672
          ],
          "torque": [
            -16.5234375,
            10.31982421875,
            -13.336181640625,
            -1.45263671875,
            -4.5428466796875,
            -2.98828125,
            0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7996442593966044,
            -6.779223376855548,
            -0.9610525416414717,
            6.10968507835441,
            1.3348765091421022,
            3.0518645891897123,
            -4.3960424106703755
          ],
          "torque": [
            21.3720703125,
            1.6552734375,
            8.85009765625,
            -0.054931640625,
            4.8431396484375,
            4.0155029296875,
            -0.83770751953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.9,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.9,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.2,
            -1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.2,
            -1.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 3,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352715179031745,
          -0.3908942872984718,
          -0.10002741740002145,
          -1.3039480916898147,
          -0.14620208932152573,
          -0.6533540733586053,
          0.39323675238905376
        ],
        "act_joint_pos_r": [
          -0.5677360295294864,
          -0.7413241254140036,
          0.1555653789416077,
          -1.0338964812098135,
          0.08745610604864718,
          1.0124162883950043,
          -0.5845629643128811
        ],
        "act_eef_pose_l": [
          487.3110875079824,
          360.5526907697837,
          103.42683144788776,
          1.6436350257476515,
          -0.06878666668226481,
          0.8005213647861799
        ],
        "act_eef_pose_r": [
          473.1294644042035,
          -235.9323481268787,
          5.068943346919923,
          1.5707248516822887,
          0.07984061514380295,
          2.7377866869662912
        ],
        "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": [
          0.35037599199695324,
          -0.3927103824697717,
          -0.09971132440407723,
          -1.303348717805562,
          -0.14009713534062598,
          -0.6526049394518468,
          0.38892279668621693
        ],
        "joint_pos_r": [
          -0.5542462523225289,
          -0.6856098953107693,
          0.16329135048594776,
          -1.0832186549222307,
          0.07893024390030165,
          0.9863731711374939,
          -0.5526873296291683
        ],
        "eef_pose_l": [
          487.7744763436731,
          359.8388157032119,
          103.55952165581665,
          1.6456954058473072,
          -0.07041836172942532,
          0.798712547684623
        ],
        "eef_pose_r": [
          470.13395483619644,
          -251.55729522676083,
          17.171893586488608,
          1.583564089766954,
          0.07686911241220754,
          2.71352820692447
        ],
        "joint_status_l": {
          "velocity": [
            0.2526247489886835,
            0.19613249388195086,
            -0.03413703674381985,
            -0.06473047037403035,
            -0.6593155844634158,
            -0.08090407579164349,
            0.46589347511272194
          ],
          "torque": [
            -16.8896484375,
            9.9609375,
            -13.775634765625,
            -3.021240234375,
            -4.54833984375,
            -2.9498291015625,
            0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.4568529707696953,
            -6.0169593904175755,
            -0.8343803180568266,
            5.326637660161282,
            0.9207659554810732,
            2.812573711382882,
            -3.4424670157036097
          ],
          "torque": [
            21.240234375,
            3.9404296875,
            9.356689453125,
            -1.94091796875,
            5.28076171875,
            3.5833740234375,
            -0.73333740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -17.0,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.0,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            -1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            -1.1,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -394,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35279907528529136,
          -0.3899286836652293,
          -0.10024172917881105,
          -1.3058398741840354,
          -0.14502721622790585,
          -0.6512607549842421,
          0.39135757179939706
        ],
        "act_joint_pos_r": [
          -0.5687252629954691,
          -0.7553752614730393,
          0.15400702164243632,
          -1.0236678726598765,
          0.08844450859820485,
          1.021565143460573,
          -0.5817921609763896
        ],
        "act_eef_pose_l": [
          487.12788750798234,
          360.59909076978363,
          103.35403144788785,
          1.6446820198432412,
          -0.06793042640609177,
          0.8013795424063377
        ],
        "act_eef_pose_r": [
          473.37746440420347,
          -231.0531481268787,
          3.7137433469197276,
          1.5647419300269003,
          0.07276564788489506,
          2.748206033416893
        ],
        "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": [
          0.3507967854319759,
          -0.39230634987858587,
          -0.09978561865425789,
          -1.303617169510841,
          -0.14107563754442773,
          -0.6525576061788158,
          0.38952414528361373
        ],
        "joint_pos_r": [
          -0.5567163195065595,
          -0.6966674334650954,
          0.16179149291028708,
          -1.0736195871324934,
          0.0805225778064401,
          0.9917635704843456,
          -0.5580852369959338
        ],
        "eef_pose_l": [
          487.6767806676319,
          359.9688657986094,
          103.5296549679186,
          1.645420198541367,
          -0.07005593291891028,
          0.7991052496609927
        ],
        "eef_pose_r": [
          470.7655363834424,
          -248.42860964720876,
          14.887002575114138,
          1.5808505233031336,
          0.07671345981036541,
          2.718764846813911
        ],
        "joint_status_l": {
          "velocity": [
            0.2162409264729881,
            0.25678037771026396,
            -0.04925848385040066,
            -0.24004502495422742,
            -0.4267579112637865,
            0.14005579828957337,
            0.19800422388227545
          ],
          "torque": [
            -16.5673828125,
            10.48828125,
            -14.29443359375,
            -3.67431640625,
            -4.530029296875,
            -1.32568359375,
            0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2969276459657841,
            -6.340258428931378,
            -0.8406981018627135,
            5.394626057052321,
            0.8555432926099504,
            3.218474957586537,
            -2.5602722786945975
          ],
          "torque": [
            21.21826171875,
            3.85986328125,
            8.941650390625,
            -1.800537109375,
            5.3411865234375,
            3.486328125,
            -0.6170654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.0,
            -2.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.0,
            -2.5,
            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": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35283382555596093,
          -0.39078302042662494,
          -0.10005879802760731,
          -1.304385386733755,
          -0.14243488708798657,
          -0.653243029720353,
          0.38729640424578116
        ],
        "act_joint_pos_r": [
          -0.5688542044586438,
          -0.7678713273743385,
          0.15287079521712835,
          -1.0227069440304748,
          0.09142163666677704,
          1.0234246137732732,
          -0.5794585406903051
        ],
        "act_eef_pose_l": [
          487.10468750798236,
          360.37669076978364,
          102.96523144788767,
          1.6458248320774622,
          -0.06567718096908466,
          0.7996583596640274
        ],
        "act_eef_pose_r": [
          473.3198644042035,
          -224.81394812687873,
          3.7585433469198506,
          1.556767486260415,
          0.06577610515426487,
          2.7581653038569107
        ],
        "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": [
          0.3511537916680925,
          -0.39195933394926336,
          -0.09985055163054503,
          -1.3038852424799547,
          -0.1415516654628245,
          -0.652498561352506,
          0.3894995136433255
        ],
        "joint_pos_r": [
          -0.5585467108826156,
          -0.7063051369997979,
          0.16054382254750818,
          -1.0659813229584734,
          0.08189808824865241,
          0.9963953562517508,
          -0.5615482253978819
        ],
        "eef_pose_l": [
          487.5777828555279,
          360.06120679391745,
          103.46508701586464,
          1.6453872343313944,
          -0.06948646993411102,
          0.7993592699422347
        ],
        "eef_pose_r": [
          471.22995913506156,
          -245.47087639444496,
          13.161948323218581,
          1.5780096288305974,
          0.07563623164112666,
          2.7238488967267718
        ],
        "joint_status_l": {
          "velocity": [
            0.18143830865291477,
            0.1270381136562193,
            -0.02248994757714229,
            -0.054013986352074994,
            -0.09538512228379759,
            -0.08040021244948292,
            -0.23792879759998442
          ],
          "torque": [
            -16.8310546875,
            10.08544921875,
            -15.118408203125,
            -2.03857421875,
            -4.434814453125,
            -2.3583984375,
            -0.19683837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1131764748255613,
            -6.648952460079904,
            -0.828662511586753,
            4.673495086854551,
            1.0285128947911115,
            2.9190737188464766,
            -1.9342570037208517
          ],
          "torque": [
            22.18505859375,
            1.7431640625,
            9.356689453125,
            0.0732421875,
            5.14892578125,
            3.75732421875,
            -0.6390380859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -17.0,
            -9.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -17.0,
            -9.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.6,
            -1.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.6,
            -1.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -354,
          "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": [
          0.3537250750846494,
          -0.391525604740117,
          -0.09990916506611294,
          -1.3034306136410774,
          -0.1433087323135328,
          -0.6550682127908154,
          0.38670880726488593
        ],
        "act_joint_pos_r": [
          -0.5665496353435633,
          -0.7815644258024435,
          0.15147402118840209,
          -1.0146959082071838,
          0.09607464682765432,
          1.0332046281150358,
          -0.5814196511094676
        ],
        "act_eef_pose_l": [
          487.02548750798235,
          360.1222907697836,
          102.60123144788787,
          1.645529870628377,
          -0.06357652817405574,
          0.7984194636231262
        ],
        "act_eef_pose_r": [
          473.93906440420346,
          -219.5523481268787,
          5.005743346919871,
          1.5454877155547138,
          0.06476950555889523,
          2.7689117628077056
        ],
        "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": [
          0.35149424205351487,
          -0.3918194951195377,
          -0.09987399756886342,
          -1.3038986230533214,
          -0.14175986874765012,
          -0.6527525473710019,
          0.3890949659632161
        ],
        "joint_pos_r": [
          -0.560329045897852,
          -0.71893072613681,
          0.15899262602361933,
          -1.0572232510772008,
          0.08403388219250156,
          1.00221004427764,
          -0.5650753385761517
        ],
        "eef_pose_l": [
          487.49436005662574,
          360.09470897561414,
          103.35646414725703,
          1.6454382092934572,
          -0.06870859871206951,
          0.7993187105395166
        ],
        "eef_pose_r": [
          471.7600017183119,
          -241.23203693289673,
          11.424163914354693,
          1.5732692579839074,
          0.07358694479365603,
          2.7311504177996673
        ],
        "joint_status_l": {
          "velocity": [
            0.2409228617223924,
            0.03173922487942349,
            -0.003797977687458598,
            0.05054352582156696,
            -0.16727233168145617,
            -0.2500844894921528,
            -0.2576975390371494
          ],
          "torque": [
            -16.80908203125,
            8.408203125,
            -15.606689453125,
            -1.654052734375,
            -4.5355224609375,
            -2.841796875,
            -0.47882080078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6718038463411347,
            -6.76424006329146,
            -0.8119853739749772,
            4.5928175720488795,
            1.3003642284035166,
            3.3473163306201315,
            -1.7651336937625217
          ],
          "torque": [
            21.7236328125,
            3.43505859375,
            9.0087890625,
            -2.716064453125,
            5.25146484375,
            4.0924072265625,
            -0.81207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.6,
            -9.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.6,
            -9.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.5,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.5,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "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": [
          0.35421365920822406,
          -0.39186125584777753,
          -0.0998469750988856,
          -1.3031875686199808,
          -0.14379580983827606,
          -0.6551814277293638,
          0.3866410078595004
        ],
        "act_joint_pos_r": [
          -0.5654614102690787,
          -0.7865760371666789,
          0.1510429501546154,
          -1.011479129568298,
          0.09688190944887552,
          1.0344879837650451,
          -0.5822932322918456
        ],
        "act_eef_pose_l": [
          487.04548750798233,
          360.0398907697836,
          102.3732314478878,
          1.6455869584650198,
          -0.06271490880531776,
          0.7983480117318899
        ],
        "act_eef_pose_r": [
          474.5854644042035,
          -217.8227481268787,
          5.211343346919875,
          1.5431388476859564,
          0.0652917407855199,
          2.7710446395188764
        ],
        "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": [
          0.35191611381186344,
          -0.3918090567304097,
          -0.09987276124991726,
          -1.3037942586022226,
          -0.14206945789753594,
          -0.653146007459794,
          0.3886950419251788
        ],
        "joint_pos_r": [
          -0.5611650602829203,
          -0.7289366949343369,
          0.1578084621847121,
          -1.0504478518491298,
          0.08594190564181788,
          1.0070425190413836,
          -0.5676432158399374
        ],
        "eef_pose_l": [
          487.4196411073646,
          360.089869355147,
          103.20633954292218,
          1.645460363842633,
          -0.0677675106252091,
          0.7991622228670084
        ],
        "eef_pose_r": [
          472.2245365670579,
          -237.80156595723057,
          10.426497372460545,
          1.5688796567122991,
          0.07219573168012723,
          2.737124280043434
        ],
        "joint_status_l": {
          "velocity": [
            0.24812758467485097,
            -0.005637338410746651,
            0.0027848221775261806,
            0.0655205856556762,
            -0.18644051083094304,
            -0.21981890590172526,
            -0.2218291365925218
          ],
          "torque": [
            -16.875,
            9.287109375,
            -16.046142578125,
            -0.421142578125,
            -4.552001953125,
            -2.9754638671875,
            -0.457763671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.46399211378922445,
            -6.224865368501753,
            -0.7306537497699939,
            4.208497883319673,
            1.181485565108109,
            2.9640227709757383,
            -1.5821551136347978
          ],
          "torque": [
            21.92138671875,
            2.86376953125,
            9.100341796875,
            -1.556396484375,
            5.3265380859375,
            3.8031005859375,
            -0.76812744140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.8,
            -10.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.8,
            -10.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.4,
            -1.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.4,
            -1.0,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.3550829791572249,
          -0.39306608410643656,
          -0.09979712470106873,
          -1.3084448835368712,
          -0.14401067862944233,
          -0.6499872794030143,
          0.3868010657159639
        ],
        "act_joint_pos_r": [
          -0.5621072444984428,
          -0.7986420662786686,
          0.14968504533662705,
          -0.9958469621922831,
          0.09474166829508857,
          1.0407811579994335,
          -0.5823235740956183
        ],
        "act_eef_pose_l": [
          486.9246875079824,
          358.2118907697836,
          101.8700314478877,
          1.6464040173453804,
          -0.06130876155873392,
          0.797038363791794
        ],
        "act_eef_pose_r": [
          476.9862644042035,
          -215.5523481268787,
          4.599343346920023,
          1.5425274040459134,
          0.0677138441741347,
          2.7741267852505045
        ],
        "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": [
          0.35243189234565736,
          -0.39197012049861685,
          -0.09986191980892259,
          -1.3043495265637028,
          -0.14240176956799006,
          -0.6528513113866009,
          0.3883520421999671
        ],
        "joint_pos_r": [
          -0.5615987361995062,
          -0.741194232620223,
          0.1563762997387252,
          -1.0413173405131146,
          0.08776846115206632,
          1.0129408690744799,
          -0.5704160360130246
        ],
        "eef_pose_l": [
          487.3389733947405,
          359.85055867755557,
          102.9954038767435,
          1.6455858681275048,
          -0.06669768147135416,
          0.7988523661071951
        ],
        "eef_pose_r": [
          473.01828369965847,
          -233.8142028382324,
          9.32328702415623,
          1.563983413159592,
          0.0710513117943631,
          2.7439020698426906
        ],
        "joint_status_l": {
          "velocity": [
            0.2863089314186773,
            -0.11836057878555906,
            0.00699766526324197,
            -0.4422855085888244,
            -0.1737570539463995,
            0.30930633172499,
            -0.16750052010872096
          ],
          "torque": [
            -17.51953125,
            6.46728515625,
            -16.510009765625,
            -3.790283203125,
            -4.56298828125,
            -1.2542724609375,
            -0.43670654296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05491727658668566,
            -6.204183052513912,
            -0.722634162471314,
            4.910656026592797,
            0.7530841604164173,
            3.0066625271238934,
            -1.2859761850796403
          ],
          "torque": [
            22.705078125,
            0.76171875,
            8.392333984375,
            -2.1240234375,
            5.19287109375,
            3.9715576171875,
            -0.76263427734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -17.0,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -17.0,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.3,
            -3.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.3,
            -3.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -311,
          "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": [
          0.3561574398839703,
          -0.3942381478361787,
          -0.09952735818139623,
          -1.3056691126453743,
          -0.14398294243660578,
          -0.6531740889545985,
          0.3856735640651489
        ],
        "act_joint_pos_r": [
          -0.5604935031351319,
          -0.8061440760882613,
          0.14900581470747445,
          -0.9904731764199387,
          0.09574943098464629,
          1.0355339101851209,
          -0.5869011357376733
        ],
        "act_eef_pose_l": [
          486.95188750798235,
          358.2102907697837,
          101.22603144788792,
          1.6467055003398523,
          -0.059278398634606606,
          0.795630462609556
        ],
        "act_eef_pose_r": [
          479.2070644042035,
          -213.5195481268787,
          4.090543346919958,
          1.5430050462880522,
          0.07173149716366108,
          2.770870101073984
        ],
        "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": [
          0.3530218719635369,
          -0.39229615505859866,
          -0.09982002227340661,
          -1.3047603942818904,
          -0.14268310838582135,
          -0.6527045350411981,
          0.387950586048988
        ],
        "joint_pos_r": [
          -0.5615373276983239,
          -0.750558848050975,
          0.15530226389245258,
          -1.0339536282995636,
          0.0889135122970818,
          1.0167162237559093,
          -0.572616689597408
        ],
        "eef_pose_l": [
          487.2695778454693,
          359.56055799342505,
          102.7235188988384,
          1.6457654947341886,
          -0.06551670553604551,
          0.7983714539847712
        ],
        "eef_pose_r": [
          473.8664050088638,
          -230.90959979541637,
          8.528039961270792,
          1.5607732685892857,
          0.07081897995753049,
          2.7482172554529387
        ],
        "joint_status_l": {
          "velocity": [
            0.3386313480087111,
            -0.20972903435145795,
            0.0316067897446759,
            -0.0981386888110336,
            -0.1403779372586289,
            -0.050710327025527135,
            -0.24591112149385808
          ],
          "torque": [
            -16.5673828125,
            5.185546875,
            -16.40625,
            -4.150390625,
            -4.398193359375,
            -2.222900390625,
            -0.487060546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.11272972803944015,
            -6.003027578191933,
            -0.6799964565542549,
            4.695750309247515,
            0.7382574445174983,
            2.032250196339014,
            -1.5426746843907324
          ],
          "torque": [
            28.5205078125,
            2.900390625,
            8.441162109375,
            -1.806640625,
            5.126953125,
            3.4259033203125,
            -0.772705078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.8,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.8,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.1,
            -2.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.1,
            -2.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -375,
          "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": [
          0.3565481045630711,
          -0.3951610453114739,
          -0.0992151450912489,
          -1.2998752707916514,
          -0.14067817987733305,
          -0.6591138754071618,
          0.38170272914199277
        ],
        "act_joint_pos_r": [
          -0.5571846954975679,
          -0.8116021509815394,
          0.14864267252852023,
          -0.9921695605460379,
          0.0868000429582958,
          1.0225348856135634,
          -0.5800105839077406
        ],
        "act_eef_pose_l": [
          487.03908750798234,
          358.9990907697836,
          100.52603144788787,
          1.6482707756944917,
          -0.05775203750061299,
          0.7940691467851693
        ],
        "act_eef_pose_r": [
          480.9134644042035,
          -210.6619481268787,
          3.177743346919897,
          1.5517290804901487,
          0.07108874305984972,
          2.7702530176417612
        ],
        "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": [
          0.35358657693985024,
          -0.39273171473851587,
          -0.09973256403199329,
          -1.3041796334464895,
          -0.14248032319092777,
          -0.6535302695999715,
          0.38707584282062274
        ],
        "joint_pos_r": [
          -0.5610236595173811,
          -0.7609296721983964,
          0.15415287873191316,
          -1.0264346500588948,
          0.08923200749538096,
          1.0187503983011692,
          -0.5744569296288466
        ],
        "eef_pose_l": [
          487.2292906295831,
          359.4379760083058,
          102.3892121739252,
          1.6461176538928302,
          -0.06430053488628339,
          0.7977223468147125
        ],
        "eef_pose_r": [
          475.036889242938,
          -227.60086221080053,
          7.61676145489443,
          1.5584830460812757,
          0.0708628384702733,
          2.752149882178355
        ],
        "joint_status_l": {
          "velocity": [
            0.3198355502624928,
            -0.26235996398549233,
            0.055879597519847835,
            0.46485745648539023,
            0.1946257376890248,
            -0.6030116422985898,
            -0.5802791628730652
          ],
          "torque": [
            -15.99609375,
            4.599609375,
            -11.260986328125,
            -0.06103515625,
            -2.2265625,
            -2.955322265625,
            -0.50537109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.41459588628800503,
            -5.472466306812862,
            -0.5950847188809227,
            3.7005205263698215,
            -0.262644423722036,
            0.4087125754050902,
            -0.5997769726437951
          ],
          "torque": [
            30.8935546875,
            3.0322265625,
            8.282470703125,
            -1.971435546875,
            3.277587890625,
            3.6785888671875,
            -0.8917236328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -17.2,
            -9.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -17.2,
            -9.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.5,
            -1.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.5,
            -1.8,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -362,
          "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": [
          0.3569793448739006,
          -0.39367216236040886,
          -0.09956133138582389,
          -1.3035664182603923,
          -0.14465352839426876,
          -0.6558324267870086,
          0.38637652840901304
        ],
        "act_joint_pos_r": [
          -0.5522291219878919,
          -0.8211519668007187,
          0.1477935595367991,
          -0.9871604630400606,
          0.07359347970463892,
          1.0227106754933297,
          -0.5665518146577807
        ],
        "act_eef_pose_l": [
          486.80308750798235,
          358.91829076978365,
          100.99403144788795,
          1.6466028023542298,
          -0.05919041175461511,
          0.7958062716661781
        ],
        "act_eef_pose_r": [
          481.7054644042035,
          -206.62834812687873,
          2.6993433469199317,
          1.5579929498466336,
          0.06736489317322514,
          2.7803518769047773
        ],
        "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": [
          0.3541588622953553,
          -0.39299323105137574,
          -0.09968014465220928,
          -1.303835105444048,
          -0.1426102786528068,
          -0.6541472101211095,
          0.3866532358554553
        ],
        "joint_pos_r": [
          -0.5599669380509852,
          -0.7700801855200753,
          0.15317409973167748,
          -1.0203714185049153,
          0.08769794684448154,
          1.0193876482304123,
          -0.5742140065403761
        ],
        "eef_pose_l": [
          487.16952613765955,
          359.3511861171537,
          102.11247997554415,
          1.646310881661156,
          -0.06330572424527378,
          0.7972712125127978
        ],
        "eef_pose_r": [
          476.1200578799114,
          -224.51343654715814,
          6.812110931654161,
          1.5578794540863918,
          0.07053962337985412,
          2.755969056006943
        ],
        "joint_status_l": {
          "velocity": [
            0.3046031346931599,
            -0.07332241884627777,
            0.012831454326178715,
            0.02901736001348354,
            -0.22066446392732253,
            -0.18199803217200383,
            -0.029883522848273003
          ],
          "torque": [
            -16.23046875,
            4.94384765625,
            -15.0634765625,
            -1.3671875,
            -3.958740234375,
            -3.0926513671875,
            0.09246826171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8356594883549562,
            -5.515589704685908,
            -0.5810812029729551,
            3.58667740680918,
            -1.5232375256135633,
            0.3588763599022826,
            0.8274923177387095
          ],
          "torque": [
            33.17138671875,
            2.87841796875,
            8.197021484375,
            -2.5146484375,
            2.5872802734375,
            3.475341796875,
            0.1959228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -17.3,
            -9.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -17.3,
            -9.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.1,
            -2.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.1,
            -2.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.3565391782733598,
          -0.3926708358812129,
          -0.09977747045212391,
          -1.305410547335757,
          -0.14587305297626135,
          -0.6543086539425448,
          0.3874646248930283
        ],
        "act_joint_pos_r": [
          -0.5512482359924546,
          -0.8245408788980911,
          0.14754674363809123,
          -0.9863332174273824,
          0.07302129382520883,
          1.0229965614973613,
          -0.5647559394078054
        ],
        "act_eef_pose_l": [
          486.6926875079823,
          358.97349076978367,
          101.49243144788767,
          1.645733612613048,
          -0.05978435654510308,
          0.7967146527926223
        ],
        "act_eef_pose_r": [
          481.9038644042035,
          -205.0419481268787,
          2.95294334691971,
          1.5568458489561308,
          0.06610811393827042,
          2.78302042847006
        ],
        "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": [
          0.35457286683549316,
          -0.39299185168528605,
          -0.09968500204779313,
          -1.3039990312555485,
          -0.14308379397816595,
          -0.6542523050518033,
          0.38673053032103205
        ],
        "joint_pos_r": [
          -0.5583935179590195,
          -0.7801170602849185,
          0.15212912672661016,
          -1.0139999677604554,
          0.08496711250453746,
          1.0200480837816794,
          -0.5725629165341444
        ],
        "eef_pose_l": [
          487.09690923017104,
          359.28614859178856,
          101.98469010437485,
          1.6462610983211474,
          -0.06269631909498953,
          0.7971323711513637
        ],
        "eef_pose_r": [
          477.2484493065788,
          -220.99505208055075,
          6.026880927931302,
          1.5577331817597933,
          0.06975344676790929,
          2.760852765501536
        ],
        "joint_status_l": {
          "velocity": [
            0.212355372202655,
            0.034668684341987444,
            -0.009986293137753677,
            -0.15243924070595938,
            -0.30123108745816474,
            -0.006085500717567527,
            0.07927987554046112
          ],
          "torque": [
            -16.34033203125,
            8.525390625,
            -14.88037109375,
            -3.216552734375,
            -4.361572265625,
            -2.0672607421875,
            0.27557373046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7716676932671973,
            -4.797630911662409,
            -0.4948827777728759,
            2.987920911955655,
            -1.2901103675960757,
            0.3184262018143258,
            0.8431286628942658
          ],
          "torque": [
            34.62890625,
            2.95166015625,
            8.099365234375,
            -1.7578125,
            2.427978515625,
            3.7445068359375,
            0.43853759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.4,
            -1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.4,
            -1.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -353,
          "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": [
          0.3558555212295799,
          -0.39049948230827325,
          -0.10021720434795701,
          -1.3082668063975442,
          -0.1438702712455508,
          -0.6506714432191388,
          0.3860694946867538
        ],
        "act_joint_pos_r": [
          -0.5499393516450808,
          -0.8303570015645388,
          0.1469912419606992,
          -0.980155999984338,
          0.07065742591633306,
          1.0278298261856853,
          -0.5609397995828161
        ],
        "act_eef_pose_l": [
          486.4870875079823,
          359.46309076978366,
          101.79963144788786,
          1.64709543743505,
          -0.06093265383779416,
          0.7990031930934671
        ],
        "act_eef_pose_r": [
          482.29186440420347,
          -203.36594812687872,
          2.7329433469199103,
          1.5562028407085842,
          0.0638340347952262,
          2.787868826663484
        ],
        "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": [
          0.3548189734746226,
          -0.3926940565166256,
          -0.09974982423653492,
          -1.3045533862529222,
          -0.143316335604251,
          -0.6538511354196244,
          0.3866937816137137
        ],
        "joint_pos_r": [
          -0.5571787108179692,
          -0.7874388794933027,
          0.15137829040243808,
          -1.009185872815458,
          0.08291867332415306,
          1.0209763898639805,
          -0.5709982826445038
        ],
        "eef_pose_l": [
          487.00735476380663,
          359.29004433496164,
          101.93832068820187,
          1.6463277677362524,
          -0.06234700903103874,
          0.7973218380847958
        ],
        "eef_pose_r": [
          478.02868641878536,
          -218.43440849428603,
          5.513576902483919,
          1.5575041969919776,
          0.06894465329338885,
          2.764679873078741
        ],
        "joint_status_l": {
          "velocity": [
            0.1119438559276098,
            0.23700702435380805,
            -0.05047556333637182,
            -0.40103754764864163,
            -0.059823284866977744,
            0.34339662971039076,
            -0.06742099963563675
          ],
          "torque": [
            -15.90087890625,
            10.5615234375,
            -15.1611328125,
            -4.254150390625,
            -4.4366455078125,
            -1.461181640625,
            -0.3936767578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7818277318958344,
            -4.63502048107145,
            -0.47378725809954503,
            3.1351337999323547,
            -1.3241756655709702,
            0.7401492932066489,
            1.0862841324250638
          ],
          "torque": [
            35.96923828125,
            1.04736328125,
            8.184814453125,
            -2.764892578125,
            2.398681640625,
            3.673095703125,
            0.5859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -17.1,
            -10.2,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -17.1,
            -10.2,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.5,
            -1.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.5,
            -1.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "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": [
          0.3560677636280834,
          -0.3893603182024328,
          -0.10039761729397324,
          -1.3079183466862998,
          -0.14558102573681855,
          -0.6520738015103994,
          0.388326946556667
        ],
        "act_joint_pos_r": [
          -0.5508529508535172,
          -0.8273579586981332,
          0.14754681721834545,
          -0.9933451817929903,
          0.07493679563606871,
          1.0029960356431176,
          -0.5628983725299791
        ],
        "act_eef_pose_l": [
          486.26708750798235,
          360.0022907697837,
          102.09163144788778,
          1.646003176155961,
          -0.062021037611490255,
          0.799436263075862
        ],
        "act_eef_pose_r": [
          483.9606644042035,
          -202.8475481268787,
          2.4753433469197716,
          1.5603811618016796,
          0.06250181573174039,
          2.7736232413904296
        ],
        "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": [
          0.3550261938634148,
          -0.3921774908529132,
          -0.09985281927568297,
          -1.3051706289755292,
          -0.14360732244935578,
          -0.6534471851758398,
          0.3868381396791559
        ],
        "joint_pos_r": [
          -0.5559896025855787,
          -0.7947288638805431,
          0.15065788376176975,
          -1.005365011888796,
          0.08117643007942911,
          1.0197180370093646,
          -0.5694146681331019
        ],
        "eef_pose_l": [
          486.89064305255164,
          359.38164477463266,
          101.94664310227766,
          1.6463396973155138,
          -0.06221955877074999,
          0.7976680362375342
        ],
        "eef_pose_r": [
          478.97938320505057,
          -215.74269781589254,
          4.9732305256572715,
          1.5576702183939826,
          0.06787914225731784,
          2.7673505667985228
        ],
        "joint_status_l": {
          "velocity": [
            0.11248621698056738,
            0.3042456730057985,
            -0.05883645068693877,
            -0.29674476074248446,
            -0.21315366841445638,
            0.1483210613715258,
            0.16078640062966443
          ],
          "torque": [
            -15.3515625,
            11.6015625,
            -17.327880859375,
            -3.875732421875,
            -4.456787109375,
            -1.171875,
            0.30120849609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5547420258213975,
            -3.523838310243832,
            -0.3359852773339167,
            1.298103364835157,
            -0.673860645425628,
            -1.80592288470649,
            0.7037391694595385
          ],
          "torque": [
            35.80078125,
            2.87109375,
            8.563232421875,
            -2.606201171875,
            2.332763671875,
            1.8841552734375,
            0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.8,
            -8.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.8,
            -8.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.6,
            -1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.6,
            -1.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -322,
          "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": [
          0.35366206786640664,
          -0.3892866285709483,
          -0.10044542431994176,
          -1.3091411952802046,
          -0.14154135009490873,
          -0.6518750321045529,
          0.38437454364462964
        ],
        "act_joint_pos_r": [
          -0.5520866157452899,
          -0.8267525503307673,
          0.14785202354362753,
          -1.0044900877112266,
          0.08840741916297423,
          0.9789080540490696,
          -0.5708973830669726
        ],
        "act_eef_pose_l": [
          486.23748750798234,
          359.52069076978364,
          102.8700314478877,
          1.64638156151202,
          -0.06274490501856854,
          0.797774730694712
        ],
        "act_eef_pose_r": [
          486.4230644042035,
          -201.9323481268787,
          3.13614334691988,
          1.5577243908527032,
          0.06125376539984698,
          2.756258386582594
        ],
        "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": [
          0.3549071822446548,
          -0.39167010455052087,
          -0.09995516886890574,
          -1.3058105540458158,
          -0.1434472029243869,
          -0.6531793101360321,
          0.3866032846516255
        ],
        "joint_pos_r": [
          -0.5552206096050087,
          -0.8004296461671717,
          0.15014226138564102,
          -1.0044974275267258,
          0.08159327344392683,
          1.0140432907351502,
          -0.5691651632207957
        ],
        "eef_pose_l": [
          486.7768120997936,
          359.4308200725232,
          102.0703749454033,
          1.6463279051020447,
          -0.06227524311793213,
          0.797771042780586
        ],
        "eef_pose_r": [
          480.16607736708727,
          -213.37356650004617,
          4.593132525688333,
          1.5578166513249474,
          0.06679430395635767,
          2.7664827769167477
        ],
        "joint_status_l": {
          "velocity": [
            -0.13446838691821839,
            0.25740781395633405,
            -0.052946027152334096,
            -0.3596986445693062,
            0.20582603506924535,
            0.14085787301887365,
            -0.24069692977901624
          ],
          "torque": [
            -23.466796875,
            11.806640625,
            -12.078857421875,
            -4.022216796875,
            -2.1258544921875,
            -1.080322265625,
            -0.47149658203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3384613544659132,
            -2.8427898060643386,
            -0.24733839208157526,
            0.0007926766949495345,
            0.735906033268785,
            -3.794493649489361,
            -0.18707422592800782
          ],
          "torque": [
            36.04248046875,
            2.65869140625,
            8.148193359375,
            -3.668212890625,
            4.2059326171875,
            1.669921875,
            -0.32135009765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.7,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.7,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.1,
            -1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.1,
            -1.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "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": [
          0.3505705261041825,
          -0.3916954860734382,
          -0.0998934277487484,
          -1.303778233743497,
          -0.13408706788245256,
          -0.6584758467479797,
          0.3781807379136623
        ],
        "act_joint_pos_r": [
          -0.5557006354385146,
          -0.8182134577067017,
          0.14927043620449612,
          -1.0376160405099806,
          0.10574374879091188,
          0.9224508316377847,
          -0.5801110056632665
        ],
        "act_eef_pose_l": [
          486.60388750798234,
          359.2246907697836,
          103.2740314478877,
          1.6474514302306318,
          -0.06405924086904921,
          0.792908458265358
        ],
        "act_eef_pose_r": [
          489.51106440420347,
          -201.25314812687873,
          3.1729433469197375,
          1.5630508822114793,
          0.056474984892676675,
          2.722334579244189
        ],
        "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": [
          0.3544106791715455,
          -0.391547902108142,
          -0.09997468278658056,
          -1.3057827009630445,
          -0.14241646213721876,
          -0.6536378785067262,
          0.3856489045745078
        ],
        "joint_pos_r": [
          -0.5550743093288721,
          -0.8041201815993035,
          0.14989738577045678,
          -1.0082341558244698,
          0.08475435207462141,
          1.0014602931341972,
          -0.5705111254390756
        ],
        "eef_pose_l": [
          486.7298703365502,
          359.411766017962,
          102.24843037186531,
          1.6464517268327543,
          -0.06250211426665171,
          0.797221370110822
        ],
        "eef_pose_r": [
          481.67402548539184,
          -211.25964448094314,
          4.353093508098112,
          1.558237594536544,
          0.06539555389980987,
          2.760779038012779
        ],
        "joint_status_l": {
          "velocity": [
            -0.41472429963596014,
            -0.015938598167952733,
            0.008775285272766276,
            0.2164760750922312,
            0.8995480487632435,
            -0.5224851601788316,
            -0.8065382117985465
          ],
          "torque": [
            -28.0810546875,
            8.203125,
            -12.310791015625,
            -0.93994140625,
            -1.60400390625,
            -2.706298828125,
            -0.48614501953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0676412248696856,
            -1.5220289297550593,
            -0.06770855616666793,
            -3.1731499589797707,
            2.266787990021224,
            -8.532770181008509,
            -1.0367564867141965
          ],
          "torque": [
            29.87548828125,
            3.21533203125,
            8.697509765625,
            -6.732177734375,
            5.0006103515625,
            1.3677978515625,
            -0.4888916015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.6,
            -1.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.6,
            -1.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -307,
          "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": [
          0.3490087573635689,
          -0.39372903189761804,
          -0.09943426511020657,
          -1.2993195493909158,
          -0.13162356753886237,
          -0.6629452481330489,
          0.3765062785275305
        ],
        "act_joint_pos_r": [
          -0.5567035685270936,
          -0.8137752561120796,
          0.14996991098126827,
          -1.0527672657541587,
          0.11113988617267268,
          0.8947766751680472,
          -0.5866448095839498
        ],
        "act_eef_pose_l": [
          487.0486875079823,
          359.1878907697836,
          103.48763144788774,
          1.6472491758587327,
          -0.0650771539708279,
          0.7905349945997233
        ],
        "act_eef_pose_r": [
          491.0870644042035,
          -201.3443481268787,
          2.916943346919652,
          1.5685375701714606,
          0.05864862262565808,
          2.7060647143806413
        ],
        "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": [
          0.35348793107484205,
          -0.3918320718854989,
          -0.09990145810764085,
          -1.304841891278689,
          -0.1405314432346812,
          -0.6551156755265746,
          0.3840261259166954
        ],
        "joint_pos_r": [
          -0.5552904482216214,
          -0.8059362312663866,
          0.14987324889435666,
          -1.0147741076721744,
          0.08881382638401487,
          0.9853486761904539,
          -0.572826593858521
        ],
        "eef_pose_l": [
          486.7645516818397,
          359.3733597767969,
          102.45862247283178,
          1.646589972021309,
          -0.06290948465899819,
          0.7961589175592174
        ],
        "eef_pose_r": [
          483.2091755998004,
          -209.58954053226324,
          4.159474218493045,
          1.5594082859686376,
          0.06433499867621453,
          2.7525218568373857
        ],
        "joint_status_l": {
          "velocity": [
            -0.48373649377264627,
            -0.2048656391195891,
            0.05045535562175907,
            0.5963953341403538,
            0.9620222018202895,
            -0.8455689027764279,
            -0.8121195658437053
          ],
          "torque": [
            -30.99609375,
            6.61376953125,
            -11.5478515625,
            0.372314453125,
            -1.4263916015625,
            -2.9278564453125,
            -0.55023193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.15261249192599635,
            -0.8465897145049084,
            0.010439197498657293,
            -4.103140057206467,
            2.411143344303257,
            -9.781487620863949,
            -1.4923232846237866
          ],
          "torque": [
            27.56103515625,
            2.60009765625,
            13.287353515625,
            -7.03125,
            5.1287841796875,
            1.2652587890625,
            -0.706787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -17.0,
            -8.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -17.0,
            -8.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.2,
            -0.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.2,
            -0.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.34642892990665336,
          -0.39703854216297446,
          -0.09865551708097418,
          -1.290576291133015,
          -0.12588533550797124,
          -0.6710462490681148,
          0.37178930091003043
        ],
        "act_joint_pos_r": [
          -0.5617641535840816,
          -0.8049077164113032,
          0.15137939595290778,
          -1.0826670323661303,
          0.1336182310719698,
          0.8477685769102928,
          -0.5991151571494145
        ],
        "act_eef_pose_l": [
          487.8398875079823,
          359.5294907697837,
          103.59563144788768,
          1.6480498181599663,
          -0.06623726975378065,
          0.7869666266833734
        ],
        "act_eef_pose_r": [
          492.9774644042035,
          -201.54274812687873,
          3.1481433469198237,
          1.5698994483243047,
          0.051804656863276254,
          2.6756032839811876
        ],
        "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": [
          0.3525514114527857,
          -0.39244920220433843,
          -0.09975308217552571,
          -1.3031339769584078,
          -0.13860851706039817,
          -0.657109933878431,
          0.3824154748966006
        ],
        "joint_pos_r": [
          -0.5561113504771691,
          -0.8063215985459699,
          0.15004938982757984,
          -1.0248655915099518,
          0.09529778135139794,
          0.9640302584461338,
          -0.5766769597953224
        ],
        "eef_pose_l": [
          486.88832178807917,
          359.3784883485574,
          102.62867618137454,
          1.6467460458535517,
          -0.0633623814015722,
          0.7949507474768343
        ],
        "eef_pose_r": [
          484.9294100070026,
          -208.08862305608915,
          4.038361599581236,
          1.5606796015099105,
          0.06288259583701013,
          2.740670866619581
        ],
        "joint_status_l": {
          "velocity": [
            -0.6612085056798556,
            -0.4956340975859064,
            0.11853353425195223,
            1.3561900704548435,
            1.3740630818378508,
            -1.50507765059249,
            -1.147592944104936
          ],
          "torque": [
            -29.3115234375,
            4.88525390625,
            -9.735107421875,
            0.0,
            -1.351318359375,
            -3.0670166015625,
            -0.55572509765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6104847302617067,
            0.15269476705359608,
            0.14363642520542896,
            -6.242371503560662,
            4.138486511686468,
            -12.555891289652621,
            -2.42325384418951
          ],
          "torque": [
            24.76318359375,
            7.75634765625,
            14.495849609375,
            -7.58056640625,
            4.954833984375,
            1.168212890625,
            -0.94940185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.6,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.6,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.1,
            -0.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.1,
            -0.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3459006395849082,
          -0.3969275503098767,
          -0.0986845986509436,
          -1.2909296275410833,
          -0.12568886866223913,
          -0.6700705400439011,
          0.3723520558877638
        ],
        "act_joint_pos_r": [
          -0.5678066368388835,
          -0.8034917698898454,
          0.15158326066818692,
          -1.0865058822455569,
          0.1555009710344084,
          0.8379663095557913,
          -0.6127980772889314
        ],
        "act_eef_pose_l": [
          487.95588750798237,
          359.5870907697836,
          103.80683144788787,
          1.6480161699336682,
          -0.06737530936194203,
          0.7875718190339648
        ],
        "act_eef_pose_r": [
          493.9654644042035,
          -202.72594812687873,
          2.5297433469197586,
          1.5627660964363952,
          0.04548720044963747,
          2.66044964603956
        ],
        "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": [
          0.3514092914723823,
          -0.3932481114574686,
          -0.09956230508605736,
          -1.3009535440100675,
          -0.13633678172477182,
          -0.6594638898053329,
          0.38060018086221137
        ],
        "joint_pos_r": [
          -0.5577224958153646,
          -0.8059293835137847,
          0.15029104130190146,
          -1.0348010654777104,
          0.10406679473022008,
          0.9438112646862515,
          -0.5819097141354093
        ],
        "eef_pose_l": [
          487.0717425765181,
          359.4109853351717,
          102.8266588973819,
          1.6469471712843446,
          -0.06400848370560365,
          0.7936076818673435
        ],
        "eef_pose_r": [
          486.48067767759636,
          -207.0754086509037,
          3.9348684679253836,
          1.5606975290496943,
          0.0608093333312311,
          2.728019382393043
        ],
        "joint_status_l": {
          "velocity": [
            -0.5949168577128461,
            -0.39736767632669867,
            0.0947894993255094,
            1.0825510505139135,
            1.1499406950656876,
            -1.1454844415075272,
            -0.8907712253476419
          ],
          "torque": [
            -31.2890625,
            4.3359375,
            -9.85107421875,
            0.15869140625,
            -1.1553955078125,
            -2.874755859375,
            -0.54473876953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0890551105759982,
            0.2632545071090675,
            0.13955557558720244,
            -5.583955520962469,
            5.554727212930488,
            -11.430918017183878,
            -3.335844835095969
          ],
          "torque": [
            25.5615234375,
            9.60205078125,
            15.185546875,
            -7.342529296875,
            5.00244140625,
            1.351318359375,
            -0.70770263671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.0,
            -1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.0,
            -1.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -274,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3469147256972029,
          -0.39485992669209974,
          -0.09912471371741141,
          -1.2947222298211896,
          -0.12923054010231044,
          -0.6651934299661286,
          0.37620735054876114
        ],
        "act_joint_pos_r": [
          -0.5721831203171486,
          -0.8094212839011996,
          0.15097767401424902,
          -1.0842983651354179,
          0.17365226034022954,
          0.8335682385228244,
          -0.6214375679863643
        ],
        "act_eef_pose_l": [
          487.77028750798235,
          359.9702907697837,
          103.92363144788766,
          1.6474402888168915,
          -0.06823675694723773,
          0.791159170238707
        ],
        "act_eef_pose_r": [
          495.24066440420347,
          -201.2499481268787,
          1.7121433469196745,
          1.5545749564715483,
          0.03650062366245206,
          2.652402801755591
        ],
        "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": [
          0.3505497478475193,
          -0.3936653506929775,
          -0.09945678303614829,
          -1.2996091992564354,
          -0.13485379338302408,
          -0.6607888878666647,
          0.3795768853591261
        ],
        "joint_pos_r": [
          -0.559999311477426,
          -0.8061674960340209,
          0.150451180441737,
          -1.0436938093006602,
          0.1152090322392375,
          0.9246006960297302,
          -0.5883459409412651
        ],
        "eef_pose_l": [
          487.208002407716,
          359.48501264916564,
          103.01428462049608,
          1.647060948644386,
          -0.06470487020923114,
          0.7929448816725533
        ],
        "eef_pose_r": [
          488.05471449955365,
          -206.07316051905354,
          3.732345535184322,
          1.559330542461148,
          0.05762687734825078,
          2.7149142927435577
        ],
        "joint_status_l": {
          "velocity": [
            -0.39257081397670035,
            -0.12901040294677202,
            0.035862428717781114,
            0.5277771330529646,
            0.6072934431543553,
            -0.47567651741342587,
            -0.36389902689126785
          ],
          "torque": [
            -31.44287109375,
            4.88525390625,
            -14.56298828125,
            0.482177734375,
            -1.373291015625,
            -2.7923583984375,
            -0.53924560546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3158125468732962,
            -0.3513987257033335,
            0.056859628846162025,
            -4.385162696693534,
            6.311682481782932,
            -9.831215454545905,
            -3.5737903175592223
          ],
          "torque": [
            23.59130859375,
            3.12744140625,
            15.325927734375,
            -6.7626953125,
            5.11962890625,
            1.4373779296875,
            -0.7342529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.5,
            -7.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.5,
            -7.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.3,
            -1.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.3,
            -1.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.34781869647427865,
          -0.39301655769206006,
          -0.09951284095747476,
          -1.2978499679443922,
          -0.13192477685149376,
          -0.6615623446607084,
          0.37926066585590434
        ],
        "act_joint_pos_r": [
          -0.5779559412499625,
          -0.8207577863519262,
          0.15002232206522606,
          -1.0895003896446183,
          0.1907830300571387,
          0.8243236001755819,
          -0.6232359059063876
        ],
        "act_eef_pose_l": [
          487.53268750798236,
          360.29589076978357,
          103.99723144788783,
          1.6470609073942708,
          -0.06895442630140382,
          0.7938262551793841
        ],
        "act_eef_pose_r": [
          495.08306440420347,
          -194.9851481268787,
          0.5161433469199892,
          1.5450497162784789,
          0.017522032580355815,
          2.652118243566818
        ],
        "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": [
          0.3500541737732831,
          -0.39365372245373054,
          -0.09944598976238885,
          -1.2991587470729768,
          -0.1342333820502115,
          -0.661103232128859,
          0.37936749427047917
        ],
        "joint_pos_r": [
          -0.5626536942417909,
          -0.8079816465278091,
          0.15042992891847032,
          -1.0509560200456372,
          0.12674991079869663,
          0.908592193470608,
          -0.5939889796267463
        ],
        "eef_pose_l": [
          487.27389166795064,
          359.60141682458584,
          103.17213999351509,
          1.6470793017548127,
          -0.06536725759432993,
          0.7929517642908773
        ],
        "eef_pose_r": [
          489.3146288195024,
          -204.52271198291882,
          3.4019400016574366,
          1.5566573013193605,
          0.05257413357010099,
          2.704369655752117
        ],
        "joint_status_l": {
          "velocity": [
            -0.24142442785990426,
            0.06881176476625228,
            -0.007219716135153931,
            0.14134397716958347,
            0.24932200810201532,
            -0.04958269107646629,
            -0.011537128504990335
          ],
          "torque": [
            -31.12060546875,
            10.43701171875,
            -15.0146484375,
            0.18310546875,
            -1.39892578125,
            -2.109375,
            0.01373291015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6525939362290742,
            -1.3797824064978315,
            -0.04402024184280151,
            -4.162669145325815,
            6.915372921889706,
            -9.100739663894686,
            -3.1585748810147862
          ],
          "torque": [
            22.8662109375,
            -0.5859375,
            11.065673828125,
            -8.819580078125,
            5.0152587890625,
            1.6461181640625,
            -0.6683349609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.9,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.9,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.4,
            -1.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.4,
            -1.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -291,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 139,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34694017111464714,
          -0.3910227859939231,
          -0.09995029870775302,
          -1.3017251350541328,
          -0.13213448837891845,
          -0.6583277595875205,
          0.38001860341044197
        ],
        "act_joint_pos_r": [
          -0.58305399987582,
          -0.8351770576045175,
          0.1487157014515313,
          -1.0898502600167588,
          0.19969023337433356,
          0.8222595527823121,
          -0.6129584212266006
        ],
        "act_eef_pose_l": [
          487.2302875079824,
          360.30869076978365,
          104.73643144788781,
          1.6465863483229095,
          -0.07045226577734631,
          0.7951104600973974
        ],
        "act_eef_pose_r": [
          494.2294644042035,
          -187.62434812687871,
          -1.3014566530800948,
          1.5372378211630595,
          -0.007604642658307976,
          2.660015216735435
        ],
        "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": [
          0.349571539890119,
          -0.3933427554609064,
          -0.09950132143955219,
          -1.2993127882026754,
          -0.13384606024227705,
          -0.6608626784239083,
          0.37942399452126185
        ],
        "joint_pos_r": [
          -0.5656071634268653,
          -0.8113203958215303,
          0.1502507000196015,
          -1.0573225835662112,
          0.1380416597782877,
          0.8945615572526631,
          -0.5979143473137087
        ],
        "eef_pose_l": [
          487.28989755001726,
          359.7254616103126,
          103.39145816041466,
          1.647029656661541,
          -0.06615060871505303,
          0.7932333278839642
        ],
        "eef_pose_r": [
          490.2813710381886,
          -202.288371477689,
          2.8858391966547856,
          1.553350025849436,
          0.04516409268091567,
          2.6962319173782703
        ],
        "joint_status_l": {
          "velocity": [
            -0.2841794463264158,
            0.25054931287726845,
            -0.04848811488511462,
            -0.26052577615942596,
            0.18484430955134634,
            0.27376316011729074,
            0.06421586608551522
          ],
          "torque": [
            -30.62255859375,
            10.81787109375,
            -15.887451171875,
            -3.851318359375,
            -1.42822265625,
            -1.387939453125,
            0.201416015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.8842027648968696,
            -2.5764434844237627,
            -0.165774956080611,
            -3.512885449640457,
            6.6578495855957875,
            -7.808386186757943,
            -1.624712064271172
          ],
          "torque": [
            20.28076171875,
            0.15380859375,
            8.563232421875,
            -7.904052734375,
            4.6343994140625,
            1.4739990234375,
            -0.66558837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -17.2,
            -10.2,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.2,
            -10.2,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -16.7,
            -3.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.7,
            -3.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -362,
          "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": [
          0.3462108133896254,
          -0.3901560761073289,
          -0.10016055718088421,
          -1.3040552610257157,
          -0.13092697481934865,
          -0.6566461095882254,
          0.37909534735433714
        ],
        "act_joint_pos_r": [
          -0.5849317681063897,
          -0.8395348925646648,
          0.14832296318295407,
          -1.0898564920339762,
          0.20104296864753748,
          0.8212141513039868,
          -0.6077438135224096
        ],
        "act_eef_pose_l": [
          487.02948750798237,
          360.0846907697836,
          105.10123144788787,
          1.646821455931447,
          -0.07102903679635067,
          0.7950545199657119
        ],
        "act_eef_pose_r": [
          493.86306440420344,
          -185.40194812687872,
          -2.233456653080111,
          1.536108275063215,
          -0.01668026760745887,
          2.6626149828368066
        ],
        "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": [
          0.3491873423126196,
          -0.39298789762780983,
          -0.09957306232918404,
          -1.2997848024509122,
          -0.1335433011788619,
          -0.6604219736952053,
          0.37943235977821316
        ],
        "joint_pos_r": [
          -0.5688786833842296,
          -0.8159719071255136,
          0.14994023557651875,
          -1.0630743700912124,
          0.14907619595701063,
          0.8816739739503685,
          -0.6000555940439037
        ],
        "eef_pose_l": [
          487.268245095652,
          359.78282988550825,
          103.58718201132791,
          1.6469918867088513,
          -0.06673396821436291,
          0.7934650162881334
        ],
        "eef_pose_r": [
          491.030161512353,
          -199.4528670120285,
          2.14287526669429,
          1.5497729139954601,
          0.035365424570948836,
          2.6898764755207845
        ],
        "joint_status_l": {
          "velocity": [
            -0.32145564285590567,
            0.30582770430598316,
            -0.06344757269738377,
            -0.4611959238314256,
            0.2825549133158578,
            0.4077812966878369,
            -0.036396268328076076
          ],
          "torque": [
            -31.904296875,
            10.97900390625,
            -16.63818359375,
            -3.985595703125,
            -1.5032958984375,
            -1.1517333984375,
            -0.21697998046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7336820177744627,
            -2.54472737470568,
            -0.17466026717571914,
            -2.8923838635162014,
            5.6122459262311075,
            -6.529468269437011,
            -0.8303032151939505
          ],
          "torque": [
            23.3203125,
            1.46484375,
            9.26513671875,
            -7.373046875,
            4.6966552734375,
            1.7083740234375,
            -0.76995849609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.0,
            -0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.0,
            -0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -354,
          "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": [
          0.3470287925714803,
          -0.3889434048187148,
          -0.10043896413431778,
          -1.306707316883733,
          -0.13168340804810677,
          -0.6534372165887226,
          0.3794976595145586
        ],
        "act_joint_pos_r": [
          -0.5912396938702336,
          -0.8437076824722516,
          0.1480236426205329,
          -1.0941231192120764,
          0.22138351503081125,
          0.8135183830092884,
          -0.6125036975227033
        ],
        "act_eef_pose_l": [
          486.82548750798236,
          360.17109076978363,
          104.91243144788774,
          1.6474398906754582,
          -0.0704992173155412,
          0.7968250136158153
        ],
        "act_eef_pose_r": [
          494.00386440420345,
          -183.35634812687871,
          -3.209456653080224,
          1.5278663949500917,
          -0.0336615791090472,
          2.6555330744618124
        ],
        "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": [
          0.3486348445624376,
          -0.39226423656832965,
          -0.09972586242144756,
          -1.3009579930334683,
          -0.1330613876560889,
          -0.6592987221456966,
          0.37940060832065414
        ],
        "joint_pos_r": [
          -0.5720594972656343,
          -0.8202039356849492,
          0.14964865613399336,
          -1.0678436689733435,
          0.1593662563192604,
          0.8710737034059998,
          -0.6017283081944822
        ],
        "eef_pose_l": [
          487.19770195185305,
          359.85577963781174,
          103.8906388901846,
          1.647019136379023,
          -0.06759497534805951,
          0.7939785830078534
        ],
        "eef_pose_r": [
          491.5785188332419,
          -196.94733762151446,
          1.419416112634167,
          1.5462804519672775,
          0.02572519369287681,
          2.6846033038762
        ],
        "joint_status_l": {
          "velocity": [
            -0.1734484994337926,
            0.35863925145918074,
            -0.07701271362137163,
            -0.6209086631052685,
            0.14881740852723535,
            0.6330239301099994,
            0.010481219814728604
          ],
          "torque": [
            -32.02880859375,
            11.74072265625,
            -17.608642578125,
            -4.0283203125,
            -1.3330078125,
            -1.0601806640625,
            -0.33966064453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.0714001406147986,
            -2.5383297889929324,
            -0.17549628346769097,
            -2.838096920588562,
            6.697666403735925,
            -6.215791277881522,
            -1.163707725723384
          ],
          "torque": [
            23.02001953125,
            2.5048828125,
            8.7646484375,
            -7.745361328125,
            4.7369384765625,
            1.4739990234375,
            -0.8697509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.9,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.9,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.2,
            -1.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.2,
            -1.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.3472709340033942,
          -0.38880004754857933,
          -0.10042781214117559,
          -1.305440920060291,
          -0.1310765611573219,
          -0.6556254352481449,
          0.37823377559902616
        ],
        "act_joint_pos_r": [
          -0.5968094614195367,
          -0.846753029443887,
          0.14774916450050535,
          -1.0938349578803597,
          0.2492606835671638,
          0.8096792264712691,
          -0.6322995254150614
        ],
        "act_eef_pose_l": [
          486.67588750798234,
          360.3926907697836,
          104.78843144788794,
          1.6475971066291695,
          -0.06960804527914406,
          0.7960412900495282
        ],
        "act_eef_pose_r": [
          495.3646644042035,
          -183.3947481268787,
          -3.271056653079995,
          1.5157193738188515,
          -0.03954432742361811,
          2.6429376522472867
        ],
        "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": [
          0.34842905439116606,
          -0.39179228858927145,
          -0.09982418292913443,
          -1.3016658674209671,
          -0.13282608710621,
          -0.6586417189247893,
          0.37932297066558085
        ],
        "joint_pos_r": [
          -0.5763137739030849,
          -0.8249906608748984,
          0.14931049543996933,
          -1.0727789425475984,
          0.17423555616123718,
          0.8597603924908017,
          -0.6059990734280929
        ],
        "eef_pose_l": [
          487.1354398087572,
          359.9156762507733,
          104.02361794710458,
          1.6470899458976638,
          -0.06793386321485728,
          0.7943173945390912
        ],
        "eef_pose_r": [
          492.2587804253784,
          -194.34402263138847,
          0.6592180120668445,
          1.5406795595816882,
          0.014343297520745238,
          2.677488581498387
        ],
        "joint_status_l": {
          "velocity": [
            -0.12507331303934777,
            0.32315250152104014,
            -0.06519003222327235,
            -0.4076936607653181,
            0.18894322989726486,
            0.3257490296242338,
            -0.11762959788841343
          ],
          "torque": [
            -31.7431640625,
            12.13623046875,
            -18.12744140625,
            -4.04052734375,
            -1.1663818359375,
            -0.9429931640625,
            -0.52825927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.2134689689981,
            -2.3502664880457047,
            -0.16861876831741895,
            -2.273982588406831,
            8.10247479011994,
            -5.408606411791084,
            -2.840365042503734
          ],
          "torque": [
            22.705078125,
            2.40966796875,
            8.538818359375,
            -8.795166015625,
            4.522705078125,
            1.6241455078125,
            -0.92376708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.0,
            -1.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.0,
            -1.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.3471548954328808,
          -0.38867127650000355,
          -0.10040351169911929,
          -1.3038161328969322,
          -0.13025558048337252,
          -0.6577633324779566,
          0.37725090625706637
        ],
        "act_joint_pos_r": [
          -0.5974217149839434,
          -0.8466410369969316,
          0.1477423816756672,
          -1.0928696939278264,
          0.2549085860322067,
          0.8080431190054574,
          -0.6361765546482968
        ],
        "act_eef_pose_l": [
          486.62468750798234,
          360.74389076978366,
          104.78363144788779,
          1.6477239440998983,
          -0.06946106826693836,
          0.7955645420725301
        ],
        "act_eef_pose_r": [
          496.1094644042035,
          -184.13554812687872,
          -3.290256653080178,
          1.5143554921605242,
          -0.040157039955814086,
          2.638238254521741
        ],
        "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": [
          0.34821432289805876,
          -0.3912521756054941,
          -0.09992882258419701,
          -1.3021937822239993,
          -0.13244624558021137,
          -0.6582920297518805,
          0.3790459772437363
        ],
        "joint_pos_r": [
          -0.5794858164868858,
          -0.828282942142191,
          0.14907281841995518,
          -1.075879132040959,
          0.1861857716274939,
          0.8519955818033803,
          -0.6103769823106924
        ],
        "eef_pose_l": [
          487.04995980485825,
          360.03029191207423,
          104.15837980160865,
          1.6471910756746013,
          -0.06821688925027043,
          0.7945808773406843
        ],
        "eef_pose_r": [
          492.8447511303572,
          -192.7240503196387,
          0.15611700169932874,
          1.536198406836301,
          0.006465386408147812,
          2.6716555158480055
        ],
        "joint_status_l": {
          "velocity": [
            -0.11441479175555713,
            0.2787288827241774,
            -0.0512649124337905,
            -0.17520870517095943,
            0.23658485276134567,
            0.05709762157923848,
            -0.19386194890813613
          ],
          "torque": [
            -32.28515625,
            11.748046875,
            -13.214111328125,
            -4.205322265625,
            -1.1627197265625,
            -0.8697509765625,
            -0.5291748046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.9370199083335038,
            -1.9826157701849922,
            -0.14368293068178772,
            -1.8349265655146496,
            7.4218450600898045,
            -4.746725984976052,
            -2.786271635772053
          ],
          "torque": [
            24.7265625,
            1.48681640625,
            8.82568359375,
            -8.123779296875,
            4.632568359375,
            2.010498046875,
            -0.8038330078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.7,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.7,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.3,
            -1.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.3,
            -1.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.34720782381249415,
          -0.38893139139966326,
          -0.10030503751137439,
          -1.301876282156373,
          -0.1299326895197665,
          -0.6600885669511871,
          0.37711106809742967
        ],
        "act_joint_pos_r": [
          -0.5998028800545444,
          -0.8429514600405305,
          0.14816069889319286,
          -1.0984139827029704,
          0.26872941252400784,
          0.7927173817937087,
          -0.6482709525628454
        ],
        "act_eef_pose_l": [
          486.63828750798234,
          361.0022907697836,
          104.70123144788778,
          1.6476678790047143,
          -0.06956232149666135,
          0.7949090041006117
        ],
        "act_eef_pose_r": [
          497.7894644042035,
          -186.28914812687873,
          -3.946256653080127,
          1.516344631642239,
          -0.04040414948598027,
          2.6215134282063257
        ],
        "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": [
          0.3480439741923362,
          -0.39084664256813695,
          -0.09999975909976735,
          -1.3023206224781936,
          -0.13206282945179756,
          -0.6583727678570117,
          0.3787407933693494
        ],
        "joint_pos_r": [
          -0.5831450637384761,
          -0.8313369604900808,
          0.14886852063980455,
          -1.0797166114303458,
          0.20073651280939986,
          0.8419575371620935,
          -0.6166188241134323
        ],
        "eef_pose_l": [
          486.9811722324491,
          360.1663049221771,
          104.25526280339587,
          1.647274512927042,
          -0.06842878405730825,
          0.7946951280582801
        ],
        "eef_pose_r": [
          493.69880438154377,
          -191.30648594834267,
          -0.44928643449785,
          1.5316200277138767,
          -0.001975291045467463,
          2.6633223092650273
        ],
        "joint_status_l": {
          "velocity": [
            -0.09030157772027536,
            0.20684102574541896,
            -0.03296909608196952,
            0.0479873394478858,
            0.23004832774664585,
            -0.1853008370149567,
            -0.17600513837345844
          ],
          "torque": [
            -32.2119140625,
            11.865234375,
            -13.80615234375,
            -2.4658203125,
            -1.1865234375,
            -2.021484375,
            -0.48431396484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7989911037288309,
            -1.254328956992623,
            -0.0764424940833397,
            -2.0192565426553344,
            7.343016598479579,
            -5.317779940250844,
            -3.418329054309943
          ],
          "torque": [
            23.0712890625,
            2.6806640625,
            9.051513671875,
            -7.6904296875,
            4.676513671875,
            1.6937255859375,
            -0.787353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -17.0,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.0,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.3,
            -2.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.3,
            -2.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -297,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34644365758768236,
          -0.390409371814178,
          -0.09996969603903315,
          -1.298730524754567,
          -0.12684894271612066,
          -0.6643387247733661,
          0.3735857778635386
        ],
        "act_joint_pos_r": [
          -0.6010762453862563,
          -0.8401840015046136,
          0.14842421198471084,
          -1.099496661505764,
          0.2812197538576924,
          0.7796815736085185,
          -0.6629113306419214
        ],
        "act_eef_pose_l": [
          486.72788750798236,
          360.7726907697837,
          104.58603144788782,
          1.6482362694255779,
          -0.06863876244659327,
          0.7919529521033556
        ],
        "act_eef_pose_r": [
          500.1534644042035,
          -189.06994812687873,
          -4.6918566530800945,
          1.5191536374817998,
          -0.035830752022582346,
          2.603995597317979
        ],
        "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": [
          0.3478729628496202,
          -0.39059667764932654,
          -0.10003522166445303,
          -1.302109454752556,
          -0.13157724682133864,
          -0.658841448201399,
          0.37831808980100834
        ],
        "joint_pos_r": [
          -0.5859928951287424,
          -0.8330086444975846,
          0.14877479009381056,
          -1.0828833588673883,
          0.2129869721135001,
          0.8327430936828037,
          -0.6230796878551123
        ],
        "eef_pose_l": [
          486.92895189885877,
          360.2936384299635,
          104.32376195532579,
          1.6473626993590589,
          -0.06857529033262413,
          0.7946004643840539
        ],
        "eef_pose_r": [
          494.61847127607166,
          -190.68726828341897,
          -0.9772077029257105,
          1.5287489641569272,
          -0.007582935006977265,
          2.6548403701526304
        ],
        "joint_status_l": {
          "velocity": [
            -0.15436041567262748,
            0.020228433590396833,
            0.007076558833363222,
            0.3649136772292394,
            0.5106417827892562,
            -0.5936883598698373,
            -0.5110746159067148
          ],
          "torque": [
            -32.4169921875,
            10.71533203125,
            -14.501953125,
            -1.678466796875,
            -1.2506103515625,
            -2.303466796875,
            -0.45867919921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6289537843876545,
            -0.7749157018421826,
            -0.03786131912275614,
            -1.7941837683226325,
            7.3689230936033745,
            -5.730475156693338,
            -4.3016905493944435
          ],
          "torque": [
            22.93212890625,
            1.7578125,
            13.018798828125,
            -7.4951171875,
            4.7808837890625,
            1.585693359375,
            -0.71502685546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.7,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.7,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.4,
            -1.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.4,
            -1.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -374,
          "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": [
          0.3477414792149885,
          -0.3900483300880304,
          -0.10006525519457635,
          -1.2999780159117786,
          -0.1300713855565914,
          -0.663299895300964,
          0.3763885101455065
        ],
        "act_joint_pos_r": [
          -0.5991582785103077,
          -0.8381490582816867,
          0.1484436839368757,
          -1.0901074144260623,
          0.276837507392953,
          0.7705606648073252,
          -0.6644580091394392
        ],
        "act_eef_pose_l": [
          486.58388750798235,
          360.7006907697836,
          104.4004314478878,
          1.6473269617276927,
          -0.06805763071599667,
          0.7927244476471653
        ],
        "act_eef_pose_r": [
          503.5462644042035,
          -193.4923481268787,
          -6.873456653080211,
          1.5317054277135547,
          -0.027724565066229216,
          2.5884772663394586
        ],
        "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": [
          0.34769634636643715,
          -0.3905352381616071,
          -0.10002972487382365,
          -1.301560657989103,
          -0.13091576578773995,
          -0.6598057358859657,
          0.37762558927335804
        ],
        "joint_pos_r": [
          -0.5884689872954587,
          -0.8340749018991561,
          0.14871474171848817,
          -1.0848868270765584,
          0.22461522052443877,
          0.8224541578024793,
          -0.6302760978542922
        ],
        "eef_pose_l": [
          486.8808542482557,
          360.3788871679773,
          104.36039750076674,
          1.6474596074864463,
          -0.06854663625357103,
          0.7941556970587899
        ],
        "eef_pose_r": [
          495.9865542678138,
          -190.80394137152902,
          -1.7448322531949998,
          1.5277486732615295,
          -0.011547204560306874,
          2.644200851148083
        ],
        "joint_status_l": {
          "velocity": [
            0.004874203886284789,
            0.05258452104905942,
            -0.0038371614702326085,
            0.1709203033275486,
            0.09119037544780273,
            -0.3773580872374893,
            -0.13360060546885322
          ],
          "torque": [
            -29.326171875,
            9.38232421875,
            -14.959716796875,
            0.128173828125,
            -1.1920166015625,
            -2.6092529296875,
            -0.516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1544094037185815,
            -0.43999591232690705,
            -0.029273377041949544,
            -0.5638068051529999,
            5.639840643591132,
            -5.604331952540953,
            -3.6915375427151176
          ],
          "torque": [
            23.38623046875,
            2.1240234375,
            11.590576171875,
            -7.89794921875,
            4.4219970703125,
            1.929931640625,
            -0.7196044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.9,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.9,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.4,
            -2.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.4,
            -2.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -381,
          "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": [
          0.3473557638917589,
          -0.38948378457283317,
          -0.1002378817238607,
          -1.3027346050828383,
          -0.12608615018931996,
          -0.6603605117282235,
          0.3718855067050154
        ],
        "act_joint_pos_r": [
          -0.6005536006948446,
          -0.8394359189980469,
          0.14818046468782675,
          -1.0815327254696576,
          0.2815054156306159,
          0.760986122913427,
          -0.6720307928722457
        ],
        "act_eef_pose_l": [
          486.38548750798236,
          360.28789076978364,
          104.18683144788776,
          1.6496883501661777,
          -0.0668995952709444,
          0.7926156241261407
        ],
        "act_eef_pose_r": [
          506.5718644042035,
          -196.4067481268787,
          -9.699056653080106,
          1.5396726148482807,
          -0.02411171014268265,
          2.5723960339587717
        ],
        "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": [
          0.34767119874181823,
          -0.3904006622445327,
          -0.10005083311090357,
          -1.30151758559208,
          -0.13042419690332527,
          -0.6601710811642678,
          0.3770201189671183
        ],
        "joint_pos_r": [
          -0.590647111778699,
          -0.8349902815178003,
          0.14863379934398138,
          -1.0849061195492047,
          0.23501390904053884,
          0.8115639451250674,
          -0.6375922808171749
        ],
        "eef_pose_l": [
          486.81134898462756,
          360.40022574669075,
          104.3491668886244,
          1.6476385901921895,
          -0.06836077083366011,
          0.7938926419686015
        ],
        "eef_pose_r": [
          497.8183265049725,
          -191.59683445945947,
          -2.939627070495078,
          1.5289252490274328,
          -0.014090886150129111,
          2.6317417910478986
        ],
        "joint_status_l": {
          "velocity": [
            -0.03406595908517218,
            0.09901986810900709,
            -0.02020065441288299,
            -0.13143422855677045,
            0.468495227584409,
            -0.020457897533354696,
            -0.5545217695619442
          ],
          "torque": [
            -30.05859375,
            11.982421875,
            -15.777587890625,
            -2.783203125,
            -1.07666015625,
            -1.7266845703125,
            -0.56488037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0698692488366746,
            -0.4801146876403095,
            -0.04895869890497728,
            0.3643158156707571,
            5.0209346271772315,
            -5.462243698590719,
            -3.719249608543862
          ],
          "torque": [
            23.07861328125,
            1.86767578125,
            9.82666015625,
            -4.754638671875,
            4.310302734375,
            1.9610595703125,
            -0.8404541015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.7,
            -7.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.7,
            -7.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.5,
            -1.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.5,
            -1.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.3458549000213417,
          -0.3892532337499955,
          -0.10036401044975628,
          -1.3058006729528864,
          -0.12228592958720207,
          -0.6580108231378369,
          0.3682716053458008
        ],
        "act_joint_pos_r": [
          -0.5995953430157557,
          -0.8406539766685488,
          0.1479864539276149,
          -1.0765208617972075,
          0.2784412768836435,
          0.7572307779458559,
          -0.6698832264065538
        ],
        "act_eef_pose_l": [
          486.2318875079824,
          359.5150907697837,
          104.55883144788783,
          1.650857879618046,
          -0.06709130366052364,
          0.791397328952432
        ],
        "act_eef_pose_r": [
          508.0390644042035,
          -197.42914812687872,
          -10.84065665308026,
          1.545082484726387,
          -0.02286446955186528,
          2.567448545784759
        ],
        "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": [
          0.3474826668771207,
          -0.3902075373122685,
          -0.10009702490824512,
          -1.3020109792730237,
          -0.12927776001475874,
          -0.6600050855429624,
          0.37573910384218984
        ],
        "joint_pos_r": [
          -0.5919550695810969,
          -0.8356960707098067,
          0.14855679511988354,
          -1.0840758373277612,
          0.24125552347872595,
          0.8042626163584317,
          -0.6422245572036477
        ],
        "eef_pose_l": [
          486.71762979787326,
          360.31220723312543,
          104.35035462911975,
          1.6481267935563602,
          -0.06809998866455691,
          0.7935440356964133
        ],
        "eef_pose_r": [
          499.1834394825187,
          -192.30781013675835,
          -3.907802204545959,
          1.5305423812761334,
          -0.0153654290377868,
          2.6230638086385754
        ],
        "joint_status_l": {
          "velocity": [
            -0.17579363566833095,
            0.10306174508212251,
            -0.0288335880820334,
            -0.4092748465076568,
            0.7550954158273004,
            0.21537398763715743,
            -0.8064660521656108
          ],
          "torque": [
            -33.08349609375,
            11.55029296875,
            -16.717529296875,
            -3.67431640625,
            -1.1224365234375,
            -1.36962890625,
            -0.62347412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8251251951767458,
            -0.5354380516431334,
            -0.06159503211677908,
            0.8159132932235025,
            4.015942923825788,
            -5.079288742945387,
            -2.987048175636886
          ],
          "torque": [
            22.2802734375,
            1.44287109375,
            8.648681640625,
            -3.84521484375,
            3.9093017578125,
            1.64794921875,
            -0.7562255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.3,
            -8.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -17.3,
            -8.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -15.9,
            -2.3,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -15.9,
            -2.3,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -305,
          "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": [
          0.3435910057874078,
          -0.3881757069572691,
          -0.10048668979911593,
          -1.3037815262745436,
          -0.11778713546606935,
          -0.6572902549444012,
          0.36407089085794136
        ],
        "act_joint_pos_r": [
          -0.5994069260657374,
          -0.8443969820944113,
          0.14758128887093536,
          -1.0719386278874312,
          0.27920551874904787,
          0.7586809546422616,
          -0.6709808675542394
        ],
        "act_eef_pose_l": [
          486.64228750798236,
          360.8238907697837,
          105.06843144788792,
          1.6526351571698983,
          -0.0686266552017072,
          0.7941948176700301
        ],
        "act_eef_pose_r": [
          508.7326644042035,
          -196.6859481268787,
          -11.253456653080093,
          1.5443416547267046,
          -0.022616545933122022,
          2.5674966026030046
        ],
        "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": [
          0.3470316332796288,
          -0.38996111685378754,
          -0.10015307559212644,
          -1.3025354449694522,
          -0.12771717469249433,
          -0.659600528957312,
          0.3741159084691846
        ],
        "joint_pos_r": [
          -0.5933031351853744,
          -0.8366282732418452,
          0.14844993519609934,
          -1.082671984158674,
          0.24784163026313438,
          0.7959685345895118,
          -0.6471311481186155
        ],
        "eef_pose_l": [
          486.6611831271809,
          360.2648024485171,
          104.42370558759008,
          1.6487392709341104,
          -0.06803061432011943,
          0.7933611690599616
        ],
        "eef_pose_r": [
          500.8018784294317,
          -193.17120059533596,
          -5.09176471144832,
          1.5328653918837392,
          -0.016678620369871975,
          2.613161807417611
        ],
        "joint_status_l": {
          "velocity": [
            -0.3715768100880368,
            0.19281858194375445,
            -0.036029271728299506,
            -0.1345728119375167,
            1.0724126073347051,
            0.2495022347197562,
            -1.0848299066665845
          ],
          "torque": [
            -33.310546875,
            11.7041015625,
            -17.37060546875,
            -4.3701171875,
            -1.3824462890625,
            -1.2066650390625,
            -0.63995361328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6591899733106032,
            -0.8389958112182683,
            -0.09381103630912158,
            1.1591682894529498,
            3.387200056352846,
            -4.026939866060175,
            -2.575693733021467
          ],
          "torque": [
            22.587890625,
            2.10205078125,
            13.958740234375,
            -3.704833984375,
            4.16015625,
            2.20458984375,
            -0.64910888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.9,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.9,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.0,
            -2.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.0,
            -2.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -301,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3396578531964835,
          -0.3871985013366932,
          -0.10041092784843729,
          -1.2954704570712234,
          -0.09991581926241189,
          -0.6642356904316584,
          0.3488575432037841
        ],
        "act_joint_pos_r": [
          -0.599166203220248,
          -0.8478756521540657,
          0.14721781032781422,
          -1.0682160048442144,
          0.2802418973042169,
          0.7601163150428306,
          -0.6716094057864865
        ],
        "act_eef_pose_l": [
          486.8022875079823,
          363.1078907697837,
          104.80363144788777,
          1.6603494600144204,
          -0.07083659354392575,
          0.7929881005851157
        ],
        "act_eef_pose_r": [
          509.2942644042035,
          -195.8363481268787,
          -11.469456653080215,
          1.5431306306670982,
          -0.02304353392016602,
          2.5679552528510583
        ],
        "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": [
          0.34597034752456934,
          -0.3895444546635669,
          -0.10019837256080313,
          -1.3016929197165135,
          -0.12383254860753144,
          -0.660096006386936,
          0.370547342233379
        ],
        "joint_pos_r": [
          -0.5943520004212763,
          -0.8384402342509595,
          0.1482505450331454,
          -1.08030510518842,
          0.2535176356278021,
          0.7895566635603967,
          -0.6514271884860733
        ],
        "eef_pose_l": [
          486.6781567940108,
          360.6393860631659,
          104.49927302159983,
          1.6503353629289101,
          -0.06841863678360537,
          0.7933229630727491
        ],
        "eef_pose_r": [
          502.3048922312121,
          -193.66665858932654,
          -6.175027989172719,
          1.5345771613359886,
          -0.01777596188863613,
          2.6051008564857847
        ],
        "joint_status_l": {
          "velocity": [
            -0.6817292809029318,
            0.2533554869819099,
            -0.022955294034177065,
            0.672006145929771,
            2.5829305898072974,
            -0.44707269112631565,
            -2.342429208940011
          ],
          "torque": [
            -31.8603515625,
            11.22802734375,
            -18.194580078125,
            -0.421142578125,
            -1.1077880859375,
            -2.5048828125,
            -0.56488037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5199185681101781,
            -1.0189950798817904,
            -0.11153205871372585,
            1.305584331023013,
            2.886135139046786,
            -3.1794638666227115,
            -2.179615184131123
          ],
          "torque": [
            23.15185546875,
            0.00732421875,
            9.613037109375,
            -3.057861328125,
            4.2626953125,
            2.3016357421875,
            -0.7452392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.3,
            -7.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.3,
            -7.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -2.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -2.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 78,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33912285100212447,
          -0.3713192531814141,
          -0.10291604512172878,
          -1.2868633032499788,
          -0.08751828645252493,
          -0.6472109370335561,
          0.3397691878192032
        ],
        "act_joint_pos_r": [
          -0.5981553558925179,
          -0.8564134221359492,
          0.14634783467584367,
          -1.0595044363755302,
          0.28290793908399964,
          0.766509838527409,
          -0.6737156496471177
        ],
        "act_eef_pose_l": [
          488.08068750798236,
          376.6110907697837,
          103.98923144788779,
          1.6748454155589432,
          -0.07933124389317135,
          0.8297948681804428
        ],
        "act_eef_pose_r": [
          510.3030644042035,
          -193.3859481268787,
          -11.317456653080171,
          1.5378081816167448,
          -0.023243010024833265,
          2.5716273522285755
        ],
        "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": [
          0.3448722317384212,
          -0.38736693168344416,
          -0.10051600016465426,
          -1.2996987203393273,
          -0.11850177723885512,
          -0.6588554298980148,
          0.36595608474639835
        ],
        "joint_pos_r": [
          -0.594995955260877,
          -0.8406057580320478,
          0.1480190623735015,
          -1.0777218386194714,
          0.25780322252690935,
          0.7856368765647699,
          -0.6546716464685534
        ],
        "eef_pose_l": [
          486.86438038801424,
          362.5478760749752,
          104.44345234838832,
          1.6536719593286233,
          -0.06976154548563224,
          0.7973658735972612
        ],
        "eef_pose_r": [
          503.4703716909436,
          -193.77787586226572,
          -6.946765524619451,
          1.535321005274916,
          -0.01858545691632388,
          2.599756050752994
        ],
        "joint_status_l": {
          "velocity": [
            -0.6209148066171899,
            1.7330981632213138,
            -0.259197210750961,
            1.3861841623334925,
            3.3461183164392727,
            1.2575681393727223,
            -2.8281014577431485
          ],
          "torque": [
            -31.435546875,
            14.560546875,
            -18.243408203125,
            0.030517578125,
            -0.98876953125,
            -0.919189453125,
            -0.61248779296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.34120520490699136,
            -1.7071773727153072,
            -0.1804872681596681,
            1.9674214163529768,
            2.7112294247282342,
            -2.0656591846739403,
            -2.056691684405365
          ],
          "torque": [
            22.91748046875,
            1.2744140625,
            9.234619140625,
            -2.618408203125,
            4.4256591796875,
            1.904296875,
            -0.72601318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.7,
            -7.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            -7.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.4,
            -2.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.4,
            -2.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -354,
          "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": [
          0.3438193344128556,
          -0.35675425198119365,
          -0.10574616666285926,
          -1.2894798474094786,
          -0.08807797925687427,
          -0.634409206759041,
          0.33271305723275396
        ],
        "act_joint_pos_r": [
          -0.5979039932043378,
          -0.8632302963428561,
          0.1455970075537021,
          -1.0481623304791547,
          0.2969139258492311,
          0.7739929829484904,
          -0.6850244097039729
        ],
        "act_eef_pose_l": [
          486.90788750798237,
          384.8550907697836,
          103.13483144788785,
          1.681424241627047,
          -0.07433526082520914,
          0.8540042350248246
        ],
        "act_eef_pose_r": [
          512.4302644042035,
          -193.21954812687872,
          -10.562256653080112,
          1.5280670444109243,
          -0.02213871968814369,
          2.5672908958448564
        ],
        "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": [
          0.3444570248063922,
          -0.38308521232198967,
          -0.10122991526757256,
          -1.297883895860459,
          -0.11347139316703603,
          -0.6554965461898357,
          0.3608548473219308
        ],
        "joint_pos_r": [
          -0.5955648346524598,
          -0.8443632280127427,
          0.14761841291880362,
          -1.0729981988594792,
          0.2641294199054612,
          0.7828655763068241,
          -0.6595477816160985
        ],
        "eef_pose_l": [
          486.98360412564483,
          365.76090385894827,
          104.24059648393175,
          1.6580082886066703,
          -0.07070286265967224,
          0.8053540311667724
        ],
        "eef_pose_r": [
          505.01865730616913,
          -193.67891339410812,
          -7.670660722795674,
          1.5345938251402838,
          -0.019328737545965733,
          2.593952403494597
        ],
        "joint_status_l": {
          "velocity": [
            -0.06886853133369897,
            2.8436598475423125,
            -0.48774076554602974,
            0.9076104641660976,
            2.7424078193023504,
            2.2773654912215946,
            -3.0392236925198546
          ],
          "torque": [
            -31.2451171875,
            14.5166015625,
            -18.88427734375,
            0.885009765625,
            -1.461181640625,
            -0.2728271484375,
            -0.6280517578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2526216729243913,
            -2.0375832843448904,
            -0.21830534085909292,
            2.6821946779715944,
            3.5406222168568036,
            -0.958211821752819,
            -2.7513946854416105
          ],
          "torque": [
            23.23974609375,
            -0.09521484375,
            9.33837890625,
            -2.880859375,
            4.35791015625,
            2.2723388671875,
            -0.8624267578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.6,
            -7.8,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -0.7,
            -16.6,
            -7.8,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.1,
            -1.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.1,
            -1.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -377,
          "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": [
          0.34939749079416116,
          -0.35197461005558134,
          -0.10674971528238998,
          -1.2899399209262106,
          -0.08718193934592663,
          -0.6347081586392682,
          0.3306563907476009
        ],
        "act_joint_pos_r": [
          -0.5962155513105651,
          -0.8712393855676073,
          0.14479062585366978,
          -1.0381262381767422,
          0.31099982250184066,
          0.7775415109994993,
          -0.6986254282843649
        ],
        "act_eef_pose_l": [
          485.4958875079824,
          387.0118907697836,
          101.02603144788765,
          1.686131178635623,
          -0.07082711002541105,
          0.8575569761844372
        ],
        "act_eef_pose_r": [
          515.1054644042035,
          -192.3243481268787,
          -9.3662566530802,
          1.518931426134545,
          -0.018274071317424444,
          2.5617820100205053
        ],
        "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": [
          0.34489910823957215,
          -0.37795426911622393,
          -0.10212824464929537,
          -1.2964437507472684,
          -0.10889249931419433,
          -0.6517978626069227,
          0.35567457549748355
        ],
        "joint_pos_r": [
          -0.5957878889994054,
          -0.8486028525489746,
          0.14717001706862726,
          -1.0674745075446033,
          0.2715154885223823,
          0.7816972531332013,
          -0.6655870409802443
        ],
        "eef_pose_l": [
          486.8869269080149,
          369.327307029075,
          103.80220558318221,
          1.6627096727452333,
          -0.07090506638010215,
          0.8142431690591169
        ],
        "eef_pose_r": [
          506.6445516303747,
          -193.48903893035444,
          -8.034281618670178,
          1.5323208258064547,
          -0.019373487426683815,
          2.5886547871015995
        ],
        "joint_status_l": {
          "velocity": [
            0.485810987666202,
            2.8057204282490034,
            -0.49910410808540195,
            0.7023929047029753,
            2.3446713241886963,
            1.8456335944545543,
            -2.7018842651709285
          ],
          "torque": [
            -21.5625,
            12.06298828125,
            -18.310546875,
            0.238037109375,
            -1.3677978515625,
            -0.3570556640625,
            -0.6353759765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.046186167416806256,
            -2.444673464222724,
            -0.25696667238861437,
            3.169519611745386,
            4.264182304447139,
            -0.44880691358795133,
            -3.5680405951126204
          ],
          "torque": [
            25.20263671875,
            0.97412109375,
            9.136962890625,
            -3.2958984375,
            4.288330078125,
            2.149658203125,
            -0.82672119140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.7,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.7,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.4,
            -1.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.4,
            -1.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3545363397021111,
          -0.3488482475841447,
          -0.10760540417482466,
          -1.2949903983002098,
          -0.09993479983288642,
          -0.6304056080976147,
          0.33821847243302205
        ],
        "act_joint_pos_r": [
          -0.5948326737441376,
          -0.8752530322470489,
          0.14438929645564974,
          -1.0323980168981406,
          0.3154797052641478,
          0.7814111908586933,
          -0.7034999012440958
        ],
        "act_eef_pose_l": [
          484.69908750798237,
          387.48709076978366,
          100.55003144788776,
          1.6828155050899392,
          -0.06581673749166486,
          0.8623290535116296
        ],
        "act_eef_pose_r": [
          516.2390644042035,
          -191.7899481268787,
          -8.587056653080026,
          1.5143681684604458,
          -0.01571945172738045,
          2.5611142982671806
        ],
        "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": [
          0.346149758001385,
          -0.37337237005028306,
          -0.10297310413752996,
          -1.2958768982128224,
          -0.10659185036144143,
          -0.6485604409133694,
          0.35231386659007813
        ],
        "joint_pos_r": [
          -0.5957152578392927,
          -0.852438185216948,
          0.1467689188634338,
          -1.062449825766877,
          0.277954608860593,
          0.7814513303886961,
          -0.6710869462795007
        ],
        "eef_pose_l": [
          486.5979498792757,
          372.49571547394896,
          103.23328063076688,
          1.6665112705906624,
          -0.07023796798947451,
          0.8224079698588328
        ],
        "eef_pose_r": [
          508.05147968018645,
          -193.25274242497508,
          -8.153084396264575,
          1.5297762720604149,
          -0.018942852017339053,
          2.5845580701617847
        ],
        "joint_status_l": {
          "velocity": [
            0.9057241107739422,
            2.6485271122114185,
            -0.5002736492452087,
            0.09573916688765394,
            0.7189402530746181,
            1.9606641174041428,
            -1.5222576723719072
          ],
          "torque": [
            -20.859375,
            11.77001953125,
            -18.5302734375,
            0.20751953125,
            -1.241455078125,
            -0.5291748046875,
            -0.6097412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.09531627107328688,
            -2.463930809495807,
            -0.2569916404775441,
            3.2454996369288835,
            4.052590886804541,
            -0.004334941388073332,
            -3.500495894567912
          ],
          "torque": [
            29.23828125,
            2.14599609375,
            9.075927734375,
            -3.25927734375,
            4.16015625,
            3.0706787109375,
            -0.94024658203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.8,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.8,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.2,
            -2.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.2,
            -2.1,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -312,
          "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": [
          0.3619370009366032,
          -0.3388917765463825,
          -0.11023431513167622,
          -1.308816405000513,
          -0.11007924968969507,
          -0.6253841641886869,
          0.33842053661742016
        ],
        "act_joint_pos_r": [
          -0.5925211322231339,
          -0.8789932475091086,
          0.14402547904126553,
          -1.027436496493224,
          0.3160355284153922,
          0.7861634474701316,
          -0.7062223805382496
        ],
        "act_eef_pose_l": [
          481.5438875079824,
          388.05509076978365,
          100.19003144788786,
          1.681231956340476,
          -0.05510620466102155,
          0.8659997099368886
        ],
        "act_eef_pose_r": [
          517.0254644042035,
          -190.8827481268787,
          -7.502256653080167,
          1.5105346867260487,
          -0.011639188410592494,
          2.563275458897873
        ],
        "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": [
          0.3484676876600422,
          -0.3679127827221785,
          -0.10408878746241702,
          -1.2972803232067223,
          -0.10655955622509432,
          -0.6447838799363321,
          0.3498444838964013
        ],
        "joint_pos_r": [
          -0.5953292916051919,
          -0.856844063245567,
          0.14631199444337736,
          -1.0566429146804213,
          0.28464464644013376,
          0.7819169175500335,
          -0.6770886211676251
        ],
        "eef_pose_l": [
          485.9636066209527,
          375.02764503561923,
          102.73232142946273,
          1.6689925172199254,
          -0.06822257708176609,
          0.8293721819774102
        ],
        "eef_pose_r": [
          509.58631244457564,
          -192.89926452432925,
          -8.122177682794586,
          1.526633836997529,
          -0.017965320713872857,
          2.5806871480085287
        ],
        "joint_status_l": {
          "velocity": [
            1.4546429314683529,
            3.134176229399266,
            -0.6636974135710849,
            -1.2458600890496996,
            -0.3801156832640151,
            2.095107508852223,
            -1.2337499186214629
          ],
          "torque": [
            -19.65087890625,
            12.7734375,
            -18.560791015625,
            -3.18603515625,
            -3.4588623046875,
            -0.32958984375,
            -0.604248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3032722687246192,
            -2.392041350973706,
            -0.2469363804289415,
            3.1542001360573835,
            3.3901152672224377,
            0.4586117053406724,
            -3.1463532152988805
          ],
          "torque": [
            31.98486328125,
            1.19384765625,
            8.721923828125,
            -3.50341796875,
            4.156494140625,
            3.841552734375,
            -0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.3,
            -7.0,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.3,
            -7.0,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.5,
            -2.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.5,
            -2.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 7,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3721338371897717,
          -0.32558744956293606,
          -0.11401055784564933,
          -1.3272575158994426,
          -0.12041689547610347,
          -0.6164808445365915,
          0.339650053631383
        ],
        "act_joint_pos_r": [
          -0.5892198241055348,
          -0.8843301987581523,
          0.14339397399139167,
          -1.0130868765521897,
          0.3076942372857032,
          0.7951668869372153,
          -0.6990861486213517
        ],
        "act_eef_pose_l": [
          477.47108750798236,
          389.07269076978366,
          99.2156314478878,
          1.681793843751329,
          -0.04441920482511135,
          0.8720025001924705
        ],
        "act_eef_pose_r": [
          518.6086644042035,
          -191.1307481268787,
          -7.778256653080234,
          1.5119875850359414,
          -0.008850572901113239,
          2.566186981548114
        ],
        "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": [
          0.3519998152753473,
          -0.3612803270320074,
          -0.10560149030907073,
          -1.3014009464704412,
          -0.10834839675662064,
          -0.640349171372605,
          0.34796337614769346
        ],
        "joint_pos_r": [
          -0.5945044201368114,
          -0.8612910661696316,
          0.14584490651971754,
          -1.0500516865492229,
          0.28936515006206426,
          0.7835632686730634,
          -0.6815299079964667
        ],
        "eef_pose_l": [
          484.7536381871346,
          377.46498941255834,
          102.1483585028761,
          1.6711381416643962,
          -0.06460381493966631,
          0.8365195816255687
        ],
        "eef_pose_r": [
          511.0694218239279,
          -192.56820285568617,
          -8.049868723570825,
          1.5239274960567737,
          -0.01658581374539695,
          2.5779412736856258
        ],
        "joint_status_l": {
          "velocity": [
            2.1744102359559925,
            3.854717077856673,
            -0.9081525094238874,
            -2.7924271400951994,
            -1.3033594211727673,
            2.5777032729950022,
            -0.8978123522020987
          ],
          "torque": [
            -17.138671875,
            14.71435546875,
            -18.572998046875,
            -4.400634765625,
            -4.046630859375,
            -0.2801513671875,
            -0.6536865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5707195389055286,
            -2.4881529354114917,
            -0.2646929063592207,
            3.9920817395229236,
            1.9794830384212148,
            1.2531538127324993,
            -1.896018067423455
          ],
          "torque": [
            33.720703125,
            0.8642578125,
            8.746337890625,
            -2.532958984375,
            4.12353515625,
            4.288330078125,
            -0.64453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.3,
            -8.8,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.3,
            -8.8,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.6,
            -1.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.6,
            -1.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 3,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38297832260519843,
          -0.30853696739507697,
          -0.11941915675265725,
          -1.3523580843819996,
          -0.12383935070445543,
          -0.6045154220620615,
          0.3436561153721802
        ],
        "act_joint_pos_r": [
          -0.586060266863671,
          -0.8918613606438173,
          0.14257789363071835,
          -0.996867607457421,
          0.29949258132438267,
          0.8034507236079491,
          -0.6919606275677372
        ],
        "act_eef_pose_l": [
          472.09748750798235,
          389.6462907697836,
          98.27883144788785,
          1.6859147776775285,
          -0.042437714179920843,
          0.8758973173151965
        ],
        "act_eef_pose_r": [
          520.5262644042035,
          -190.7763481268787,
          -8.512656653080285,
          1.5140460344339233,
          -0.006767165233122304,
          2.5688052825666814
        ],
        "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": [
          0.35692632028443194,
          -0.3528207951935544,
          -0.10776988506335314,
          -1.309135822050241,
          -0.11091351247293393,
          -0.6346211474466972,
          0.34699836161439673
        ],
        "joint_pos_r": [
          -0.5932791238353576,
          -0.8659284296899666,
          0.14534989583048555,
          -1.0421446160611478,
          0.29145286850601443,
          0.7864056209178875,
          -0.683612008165148
        ],
        "eef_pose_l": [
          482.81934833679685,
          379.6334936501494,
          101.47053819759716,
          1.6733999659926768,
          -0.06066207723217425,
          0.8432949449503544
        ],
        "eef_pose_r": [
          512.5412046890266,
          -192.29941568045064,
          -8.10546629846229,
          1.522202192979233,
          -0.015105414684260335,
          2.576319281954456
        ],
        "joint_status_l": {
          "velocity": [
            2.8135332699146254,
            4.782512349573942,
            -1.2580842372337253,
            -4.6678666604602626,
            -1.3959493576787274,
            3.2513224489107984,
            -0.36095194845087164
          ],
          "torque": [
            -16.16455078125,
            13.83544921875,
            -18.902587890625,
            -2.728271484375,
            -4.35791015625,
            0.0,
            -0.5694580078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7796135594695386,
            -2.8006739415529225,
            -0.2993674082052422,
            4.8897727130654545,
            0.8682633763243963,
            1.8408167985368706,
            -0.9016243034922766
          ],
          "torque": [
            35.5224609375,
            -0.3955078125,
            8.3984375,
            -2.8564453125,
            4.05029296875,
            4.7113037109375,
            -0.64361572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.6,
            -7.5,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.6,
            -7.5,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.5,
            -1.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.5,
            -1.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -396,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -3,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3962067206745536,
          -0.2872343923151891,
          -0.12708788937400534,
          -1.38160333750808,
          -0.12797371537305044,
          -0.5898936566939729,
          0.3385683306077182
        ],
        "act_joint_pos_r": [
          -0.5818151890676635,
          -0.9016187133448343,
          0.1416527576278091,
          -0.9827475931660327,
          0.2972420808432976,
          0.8092084123472216,
          -0.6894256028174375
        ],
        "act_eef_pose_l": [
          465.7254875079824,
          391.01029076978364,
          97.64283144788789,
          1.6906144658352265,
          -0.031200624432844323,
          0.8836720719013863
        ],
        "act_eef_pose_r": [
          522.9510644042035,
          -189.0331481268787,
          -8.017456653080217,
          1.5120497006305822,
          -0.0046364354739292886,
          2.570511365011006
        ],
        "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": [
          0.3627018777537383,
          -0.3431368977133731,
          -0.11055033244079374,
          -1.3195414773339174,
          -0.11350499337798686,
          -0.6280219453110705,
          0.34587479192211396
        ],
        "joint_pos_r": [
          -0.591580531709987,
          -0.8714841069657325,
          0.14476776369722297,
          -1.0327348102116043,
          0.29265051083525645,
          0.7899920280496217,
          -0.6848359675113093
        ],
        "eef_pose_l": [
          480.3697859182438,
          381.50467582756187,
          100.81099063477615,
          1.6757944015711117,
          -0.056233105274255665,
          0.8495533657863715
        ],
        "eef_pose_r": [
          514.2154709122203,
          -191.8697732668665,
          -8.151125427507651,
          1.5205610273217969,
          -0.013446683816600885,
          2.575163824814393
        ],
        "joint_status_l": {
          "velocity": [
            3.6184163159633798,
            6.0372925225791185,
            -1.7860034734300534,
            -6.702483219632072,
            -1.5625758897545028,
            4.117733724582351,
            -0.7890745494449902
          ],
          "torque": [
            -15.66650390625,
            14.94140625,
            -18.701171875,
            -3.680419921875,
            -4.51904296875,
            -0.3607177734375,
            -0.60882568359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0546259008430425,
            -3.2544415043211927,
            -0.3364107335925848,
            5.398460221848644,
            0.4958749358188186,
            2.0753082961944003,
            -0.49566599417438795
          ],
          "torque": [
            36.6796875,
            -0.40283203125,
            8.4228515625,
            -3.0029296875,
            4.0484619140625,
            4.56298828125,
            -0.5419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.0,
            -7.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -7.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.8,
            -1.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.8,
            -1.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -291,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -30,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.40924649121483353,
          -0.2683876269521373,
          -0.1348923509656074,
          -1.4025886572421986,
          -0.12824967664189793,
          -0.5836120874606923,
          0.33169200370076535
        ],
        "act_joint_pos_r": [
          -0.576262085256071,
          -0.9174837727299671,
          0.1400891327974149,
          -0.952699036796121,
          0.2947706538521042,
          0.8246870068894689,
          -0.6857590910445786
        ],
        "act_eef_pose_l": [
          459.8110875079824,
          392.91189076978367,
          96.7732314478879,
          1.6958693432729524,
          -0.02161686529962552,
          0.8883889403248049
        ],
        "act_eef_pose_r": [
          527.1934644042035,
          -187.94034812687872,
          -8.00385665308022,
          1.5083415231156667,
          -0.0012671958895315873,
          2.5713326355857795
        ],
        "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": [
          0.3700972601800038,
          -0.3311261425735151,
          -0.1143549890180334,
          -1.332882578692816,
          -0.11609432531374583,
          -0.6205717133324798,
          0.34380700399419606
        ],
        "joint_pos_r": [
          -0.5894228143251808,
          -0.8780161170656088,
          0.1441001449659317,
          -1.0215283591002253,
          0.29315952254401884,
          0.7946906935544612,
          -0.6852257918139077
        ],
        "eef_pose_l": [
          477.14773240077756,
          383.5055411050718,
          100.05511302116776,
          1.6787654747578624,
          -0.05048606081790849,
          0.856145777105373
        ],
        "eef_pose_r": [
          516.1084059651993,
          -191.3162220485322,
          -8.162008715254018,
          1.518777870802018,
          -0.011697843554068145,
          2.5744715656679698
        ],
        "joint_status_l": {
          "velocity": [
            4.227992253795776,
            6.775559852652879,
            -2.2179696748191313,
            -7.528034455825505,
            -1.3127392262665127,
            3.991521870508663,
            -1.3083814430427942
          ],
          "torque": [
            -17.5927734375,
            14.0185546875,
            -19.512939453125,
            -3.28369140625,
            -4.5318603515625,
            -0.34423828125,
            -0.706787109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4213168199654902,
            -4.2623810995392475,
            -0.43317653834074044,
            7.433347573975624,
            0.1739970495044929,
            3.2395062960492993,
            -0.05759461824972334
          ],
          "torque": [
            37.66845703125,
            0.31494140625,
            8.2275390625,
            -2.734375,
            3.9349365234375,
            4.4622802734375,
            -0.5657958984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.7,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.2,
            -3.3,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.2,
            -3.3,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -362,
          "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": [
          0.41494138548469706,
          -0.2595804720923398,
          -0.1395960906930815,
          -1.4152181077003119,
          -0.1284909259082765,
          -0.5732783279292669,
          0.33037813830375623
        ],
        "act_joint_pos_r": [
          -0.5737387757952042,
          -0.9249749187907425,
          0.139417716718739,
          -0.9399706648764122,
          0.29526619400005405,
          0.8313746525515421,
          -0.6854535779375946
        ],
        "act_eef_pose_l": [
          457.6566875079824,
          393.8342907697837,
          96.7292314478878,
          1.6987661145055188,
          -0.020070547131147785,
          0.8947519041130017
        ],
        "act_eef_pose_r": [
          529.0726644042035,
          -187.1027481268787,
          -7.678256653080098,
          1.5054050021057852,
          0.00025756860717865264,
          2.5717243963856866
        ],
        "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": [
          0.37717583913036806,
          -0.3198183989782376,
          -0.11826201881343056,
          -1.3457670757658031,
          -0.11811983163171307,
          -0.6133296326061967,
          0.34166709416563784
        ],
        "joint_pos_r": [
          -0.5868111494200461,
          -0.8858396524624241,
          0.1433151998080814,
          -1.0079224508461457,
          0.29350030225340595,
          0.8007489467484898,
          -0.6852856086397761
        ],
        "eef_pose_l": [
          474.0848318697735,
          385.25817291579403,
          99.41531995345619,
          1.6816786572214455,
          -0.04532092907097037,
          0.8621977754888223
        ],
        "eef_pose_r": [
          518.3260230437863,
          -190.65199900179377,
          -8.140237766732099,
          1.516577670387512,
          -0.009725429582836845,
          2.573945688243178
        ],
        "joint_status_l": {
          "velocity": [
            4.078558715608249,
            6.505504234085802,
            -2.304011809806328,
            -7.5004902337916235,
            -1.1200451479029816,
            4.32541333386105,
            -1.2191712755487139
          ],
          "torque": [
            -17.73193359375,
            14.71435546875,
            -19.903564453125,
            -3.96728515625,
            -4.405517578125,
            0.2178955078125,
            -0.6243896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.41177471341436,
            -4.226484109972617,
            -0.42091575940217396,
            7.338576444989364,
            0.1907106839271755,
            3.3074786778604093,
            -0.018140149149026286
          ],
          "torque": [
            36.74560546875,
            0.8056640625,
            8.624267578125,
            -2.99072265625,
            4.039306640625,
            4.771728515625,
            0.0311279296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -17.1,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -17.1,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.6,
            -2.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.6,
            -2.5,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "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": [
          0.43091708481178964,
          -0.24555379855871942,
          -0.14704311435113074,
          -1.4298341597193138,
          -0.14273627845192494,
          -0.5667410506750282,
          0.34412968559853085
        ],
        "act_joint_pos_r": [
          -0.5697037107838442,
          -0.9439039921238562,
          0.13779640659841583,
          -0.9113837251764684,
          0.29503478976157727,
          0.8496033311327338,
          -0.6847018615474995
        ],
        "act_eef_pose_l": [
          453.43268750798234,
          396.0982907697836,
          95.29563144788796,
          1.6999531346729002,
          -0.01778091071302248,
          0.9025770067733135
        ],
        "act_eef_pose_r": [
          532.2198644042035,
          -183.64834812687872,
          -7.499056653080061,
          1.4976288322587028,
          0.0028082813015790397,
          2.5775060359823914
        ],
        "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": [
          0.38565584823670596,
          -0.3075850176422014,
          -0.12287440525184785,
          -1.3596959186611597,
          -0.1215610140895948,
          -0.6055105404064308,
          0.3412228752848738
        ],
        "joint_pos_r": [
          -0.5843155571389288,
          -0.8938990474461544,
          0.14253522415324046,
          -0.9942962802802922,
          0.2937707322693103,
          0.8073492556632108,
          -0.6852486602014667
        ],
        "eef_pose_l": [
          470.73375497907233,
          387.14159928782016,
          98.67209013807246,
          1.6845294598987892,
          -0.040329440226052116,
          0.8688988792419502
        ],
        "eef_pose_r": [
          520.4170704462039,
          -189.80448596993537,
          -8.094922673969933,
          1.5140377506348517,
          -0.007920554670384054,
          2.5740574253391926
        ],
        "joint_status_l": {
          "velocity": [
            4.888069384208826,
            6.699174079438208,
            -2.6101436006519263,
            -7.574706630249395,
            -2.2868611037686337,
            4.186981402576784,
            0.313926255114616
          ],
          "torque": [
            -16.44287109375,
            15.21240234375,
            -19.10400390625,
            -4.534912109375,
            -4.3597412109375,
            0.087890625,
            0.2252197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5780328647583275,
            -5.400374749651604,
            -0.5117772018594646,
            8.95429185849217,
            0.13651418289439832,
            4.5633055632041675,
            0.0590525129675612
          ],
          "torque": [
            37.17041015625,
            -0.57861328125,
            8.660888671875,
            -1.94091796875,
            4.04296875,
            4.017333984375,
            0.30670166015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.2,
            -7.8,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.2,
            -7.8,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.2,
            -5.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.2,
            -5.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "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": [
          0.44027396012141296,
          -0.2322717002677463,
          -0.15572139380429967,
          -1.4550608563263003,
          -0.13405430831469625,
          -0.5523937894972071,
          0.332622855236727
        ],
        "act_joint_pos_r": [
          -0.5651239390462561,
          -0.9620038291708947,
          0.13630719798786578,
          -0.8823186424446495,
          0.29192570966018705,
          0.8699816379953758,
          -0.6788578735396298
        ],
        "act_eef_pose_l": [
          448.93028750798237,
          394.63349076978363,
          95.13163144788797,
          1.706771450287845,
          -0.012546304635025249,
          0.903796192407217
        ],
        "act_eef_pose_r": [
          535.0006644042035,
          -180.4355481268787,
          -7.080656653080268,
          1.4905110154631689,
          0.0032987739259364387,
          2.5854654132303483
        ],
        "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": [
          0.39415244067287825,
          -0.29588858504819493,
          -0.12782690986755643,
          -1.3740729700565597,
          -0.12406243077378615,
          -0.5975180316450995,
          0.3404022781185535
        ],
        "joint_pos_r": [
          -0.5812765319370411,
          -0.9045406460188297,
          0.14154923693389407,
          -0.9767456791445156,
          0.2936849829779965,
          0.8168470638607597,
          -0.684570708150054
        ],
        "eef_pose_l": [
          467.40762346498946,
          388.56453646303675,
          97.9823836675437,
          1.6875489218588482,
          -0.03573466693921109,
          0.8746440055086738
        ],
        "eef_pose_r": [
          522.8670448585294,
          -188.44734883837245,
          -8.011332785996728,
          1.5103509407605287,
          -0.006061087641317066,
          2.575412932800483
        ],
        "joint_status_l": {
          "velocity": [
            4.980977194372294,
            6.870420924054876,
            -3.0125154157754075,
            -8.746433754858174,
            -1.0790909483320288,
            4.873274422426022,
            -0.840152892252366
          ],
          "torque": [
            -16.09130859375,
            15.60791015625,
            -19.036865234375,
            -4.693603515625,
            -4.3963623046875,
            0.3240966796875,
            -0.523681640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.744428583034363,
            -6.205840748934044,
            -0.5661235092506711,
            10.197819194985414,
            -0.189995914693597,
            5.738364762516213,
            0.6169679414291807
          ],
          "torque": [
            37.18505859375,
            -0.1318359375,
            8.392333984375,
            -3.84521484375,
            2.340087890625,
            4.4970703125,
            0.4742431640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.7,
            -7.6,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.7,
            -7.6,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.5,
            -2.2,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.5,
            -2.2,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -398,
          "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": [
          0.4571855427265109,
          -0.21995889594858747,
          -0.16462157595745971,
          -1.4729536069905198,
          -0.1401251510735304,
          -0.5435233120822254,
          0.32878856132305223
        ],
        "act_joint_pos_r": [
          -0.5623017572695383,
          -0.9778092611740747,
          0.13507289880112971,
          -0.8552431931876413,
          0.29489361407585957,
          0.888717134754793,
          -0.6763203202487665
        ],
        "act_eef_pose_l": [
          444.52868750798234,
          394.9398907697837,
          93.11163144788776,
          1.7115945049940222,
          0.0010317471411320474,
          0.9091730614997372
        ],
        "act_eef_pose_r": [
          537.7126644042035,
          -178.38674812687873,
          -6.7102566530802505,
          1.4817448183175084,
          0.0018600661246648217,
          2.5890902536334104
        ],
        "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": [
          0.4042154637821965,
          -0.28325117339050737,
          -0.13376321081826698,
          -1.3904113777148284,
          -0.12651412976139567,
          -0.5885387165588601,
          0.3385941382009136
        ],
        "joint_pos_r": [
          -0.578340412113583,
          -0.915559415838686,
          0.14056470035943652,
          -0.9585292496372442,
          0.29369096986389015,
          0.8274456700306585,
          -0.6833791465302228
        ],
        "eef_pose_l": [
          463.66913292287904,
          389.8001627991897,
          97.11204050216472,
          1.6911630369634367,
          -0.029754710985060034,
          0.8804732389480174
        ],
        "eef_pose_r": [
          525.2353249965456,
          -186.98219470204597,
          -7.891963737142532,
          1.5061276032469066,
          -0.004780255791998635,
          2.5773645830651315
        ],
        "joint_status_l": {
          "velocity": [
            5.720599805913551,
            6.835364365431751,
            -3.332605145098033,
            -8.914297848612307,
            -1.4699469479426686,
            4.861520300599942,
            -1.0589710701269794
          ],
          "torque": [
            -15.84228515625,
            15.673828125,
            -18.682861328125,
            -4.4677734375,
            -4.2919921875,
            -0.21240234375,
            -0.6097412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7321236369012283,
            -6.722785018276944,
            -0.5930970758338816,
            11.154565110245152,
            0.12988174423567145,
            6.61712302859474,
            0.7623307546538172
          ],
          "torque": [
            39.5947265625,
            0.02197265625,
            7.989501953125,
            -3.045654296875,
            3.6895751953125,
            4.515380859375,
            0.6207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -15.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -15.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.2,
            -2.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.2,
            -2.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.4662823187215655,
          -0.21583459114359177,
          -0.16882685604228737,
          -1.4775117388608805,
          -0.14039566906677323,
          -0.5445398164204186,
          0.3255281947124937
        ],
        "act_joint_pos_r": [
          -0.5614133208168934,
          -0.9828477135770934,
          0.13472920121046628,
          -0.845609881561259,
          0.29639475073117666,
          0.8947775895451624,
          -0.6760907870998357
        ],
        "act_eef_pose_l": [
          442.4518875079824,
          394.95269076978366,
          91.43323144788775,
          1.714750390465057,
          0.007831227110761165,
          0.9085185691341442
        ],
        "act_eef_pose_r": [
          538.7870644042035,
          -178.0675481268787,
          -6.631856653080149,
          1.4789788097510643,
          0.0017945481342251449,
          2.5891326884334944
        ],
        "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": [
          0.41406988905175324,
          -0.2723264661827635,
          -0.13936613874874226,
          -1.4045553588598478,
          -0.12878580932949538,
          -0.5812664956222159,
          0.3365712700951507
        ],
        "joint_pos_r": [
          -0.5754043894227714,
          -0.9271342650217981,
          0.13955491986793708,
          -0.9391803564508237,
          0.29407299996954683,
          0.838962858931293,
          -0.6821051855316441
        ],
        "eef_pose_l": [
          460.2777499308633,
          390.75358737183524,
          96.11388923536258,
          1.6946337360416261,
          -0.023531157383131013,
          0.8851510538154537
        ],
        "eef_pose_r": [
          527.6686724675042,
          -185.4794875255954,
          -7.745203763730473,
          1.5014239866214802,
          -0.0037408024675220433,
          2.5793830965507123
        ],
        "joint_status_l": {
          "velocity": [
            5.638776097528275,
            6.100942566547918,
            -3.181663629550191,
            -7.879056659755079,
            -1.2538278719496088,
            3.966364372130826,
            -1.1926169669700393
          ],
          "torque": [
            -13.9306640625,
            13.27880859375,
            -20.013427734375,
            -4.974365234375,
            -4.2938232421875,
            -0.5474853515625,
            -0.6683349609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5109908451416132,
            -6.016874985729892,
            -0.5211622441482211,
            10.105313247790626,
            0.2507416870254353,
            6.027813125451864,
            0.6495358735989498
          ],
          "torque": [
            38.994140625,
            1.69189453125,
            8.148193359375,
            -2.6123046875,
            4.0631103515625,
            4.844970703125,
            0.68939208984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.4,
            -7.8,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.4,
            -7.8,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.4,
            -2.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.4,
            -2.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "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": [
          0.47890708498291107,
          -0.21027946083232688,
          -0.17429075429597285,
          -1.4877869441781197,
          -0.13535937208239318,
          -0.542574726591224,
          0.3194988771511599
        ],
        "act_joint_pos_r": [
          -0.56026583571252,
          -0.9875211523836532,
          0.1343851849549529,
          -0.8341629900893872,
          0.29672537660223686,
          0.9016133756470844,
          -0.6751657102995373
        ],
        "act_eef_pose_l": [
          439.17988750798236,
          393.7694907697836,
          88.46683144788773,
          1.7223357481739108,
          0.014876807793410248,
          0.9055238186529405
        ],
        "act_eef_pose_r": [
          540.0702644042035,
          -178.3859481268787,
          -6.718256653080289,
          1.477298995410122,
          0.0024814244482880216,
          2.5884464197253094
        ],
        "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": [
          0.424077983255808,
          -0.2624126087983887,
          -0.1448259049815694,
          -1.4177085306646333,
          -0.13012610615480924,
          -0.5750070545586843,
          0.3340754747873727
        ],
        "joint_pos_r": [
          -0.5729901881552573,
          -0.9367581406730958,
          0.1387273765796505,
          -0.9226592393802663,
          0.2944875707361673,
          0.8488184631929668,
          -0.6810244335271474
        ],
        "eef_pose_l": [
          456.991835181729,
          391.40103007300013,
          94.88152702489435,
          1.6985726486525197,
          -0.01730329654308169,
          0.8886707762763391
        ],
        "eef_pose_r": [
          529.7077725054663,
          -184.3317390490673,
          -7.62587622381227,
          1.4975074847800862,
          -0.0028624119268549574,
          2.5808725888844877
        ],
        "joint_status_l": {
          "velocity": [
            5.921368345103151,
            5.630213926051342,
            -3.1821098746414034,
            -7.568245445987998,
            -0.5651760512023207,
            3.5025881171719675,
            -1.5742261153937065
          ],
          "torque": [
            -16.0693359375,
            13.89404296875,
            -20.30029296875,
            -4.74853515625,
            -4.0631103515625,
            -0.194091796875,
            -0.61981201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.374189534261383,
            -5.482243574608248,
            -0.4689428647368654,
            9.557313045534421,
            0.24167590568557884,
            5.701682382911244,
            0.6327234474019505
          ],
          "torque": [
            38.26171875,
            1.54541015625,
            8.160400390625,
            -2.618408203125,
            4.1253662109375,
            4.5025634765625,
            0.77178955078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.3,
            -7.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -7.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.0,
            -3.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.0,
            -3.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -288,
          "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": [
          0.49106804414975114,
          -0.20734624856545864,
          -0.1774969924061848,
          -1.4884865821979265,
          -0.12670673048069445,
          -0.5432615883685138,
          0.31056085689140017
        ],
        "act_joint_pos_r": [
          -0.5587953582728273,
          -0.9916948563644327,
          0.1340182348596074,
          -0.8199876986580874,
          0.29382263574662204,
          0.9096132231738437,
          -0.6709448487718835
        ],
        "act_eef_pose_l": [
          437.02148750798233,
          394.6142907697837,
          83.89163144788773,
          1.7337794901363224,
          0.021805555304714546,
          0.9061226688749277
        ],
        "act_eef_pose_r": [
          541.5270644042034,
          -179.5451481268787,
          -7.2806566530800865,
          1.4782175705201983,
          0.002929297112114653,
          2.5875708370175414
        ],
        "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": [
          0.4359752614441824,
          -0.25218786233939694,
          -0.15079990966160348,
          -1.4310441188448382,
          -0.13002496671154848,
          -0.5689627015127927,
          0.33019357269100336
        ],
        "joint_pos_r": [
          -0.570574482844024,
          -0.9462044404482758,
          0.13791823291088923,
          -0.9054127786125667,
          0.2945556801529872,
          0.8590557729419065,
          -0.6795122680747027
        ],
        "eef_pose_l": [
          453.37097109731263,
          392.03704773581495,
          92.94836918240541,
          1.7043240012231191,
          -0.010057624658357118,
          0.8919057975622493
        ],
        "eef_pose_r": [
          531.7864079943702,
          -183.44587033805863,
          -7.57908032298792,
          1.4939719815523438,
          -0.001948483758403226,
          2.5820617707974822
        ],
        "joint_status_l": {
          "velocity": [
            5.949845050901459,
            4.84275145826607,
            -2.883199900979294,
            -6.203603076640363,
            0.3583589437001766,
            2.7756383565051834,
            -2.1202707723135816
          ],
          "torque": [
            -15.17578125,
            13.0810546875,
            -19.781494140625,
            -3.900146484375,
            -1.636962890625,
            -0.4595947265625,
            -0.7305908203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2721079348709807,
            -4.912820023062814,
            -0.42118736728102846,
            9.225636539478721,
            -0.07916646099781488,
            5.46004358967167,
            0.9252539957964601
          ],
          "torque": [
            39.54345703125,
            0.029296875,
            8.1787109375,
            -2.47802734375,
            2.36572265625,
            4.8175048828125,
            0.74249267578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.2,
            -8.1,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.2,
            -8.1,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.0,
            -2.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.0,
            -2.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -356,
          "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": [
          0.496101467989117,
          -0.2054501791168209,
          -0.18026311852720373,
          -1.4933779796241153,
          -0.12337087379955008,
          -0.5344176864264466,
          0.3089739607617389
        ],
        "act_joint_pos_r": [
          -0.5589012802308005,
          -0.9942519459222,
          0.13381757180661413,
          -0.811865212745486,
          0.2908633915515324,
          0.912960605757852,
          -0.6666280963726428
        ],
        "act_eef_pose_l": [
          436.5470875079824,
          394.94549076978365,
          82.34443144788798,
          1.7392704505965075,
          0.021453890871992492,
          0.9110235179654219
        ],
        "act_eef_pose_r": [
          542.2030644042035,
          -180.1251481268787,
          -8.424656653080092,
          1.48074905413306,
          0.0011921670979281233,
          2.5869826338703166
        ],
        "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": [
          0.4456665786984721,
          -0.24457716423529705,
          -0.15553737752027533,
          -1.4411038142270118,
          -0.12905907376495973,
          -0.5636230346691645,
          0.3267660623999393
        ],
        "joint_pos_r": [
          -0.5686500022314268,
          -0.9539714018771188,
          0.13725444803418346,
          -0.8904527296209409,
          0.29410124160141415,
          0.8677449100775434,
          -0.677616709768774
        ],
        "eef_pose_l": [
          450.64105414542126,
          392.55468111722774,
          91.15719121691902,
          1.709742247481294,
          -0.004631134104514835,
          0.8948306165681128
        ],
        "eef_pose_r": [
          533.5303145414689,
          -182.89627290526732,
          -7.695421000392912,
          1.4916043186154664,
          -0.0013892738782963537,
          2.58285095374626
        ],
        "joint_status_l": {
          "velocity": [
            5.44680739839265,
            4.225589765687099,
            -2.670301272422071,
            -5.645443359433955,
            0.6143074782337665,
            3.154084585461625,
            -1.9214903055986277
          ],
          "torque": [
            -14.0478515625,
            16.69189453125,
            -20.318603515625,
            -4.522705078125,
            -1.2744140625,
            -0.25634765625,
            -0.63446044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0528309244799416,
            -4.350170455448499,
            -0.3711716854538638,
            8.487201505920972,
            -0.34967749220093935,
            4.883151112629491,
            1.1867352458967417
          ],
          "torque": [
            39.55810546875,
            1.3916015625,
            8.0078125,
            -1.605224609375,
            2.1295166015625,
            4.4970703125,
            0.6866455078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.2,
            -7.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.2,
            -7.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -16.9,
            -2.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -16.9,
            -2.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -366,
          "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": [
          0.5049256873916507,
          -0.20246040648617375,
          -0.1834467144577089,
          -1.4971359420363437,
          -0.12715136656099438,
          -0.5209766763241364,
          0.31414356887810024
        ],
        "act_joint_pos_r": [
          -0.5585196929935258,
          -0.9952745654775262,
          0.13377314834254728,
          -0.8100880776461484,
          0.2887797237370902,
          0.9127787364562272,
          -0.6656839564347719
        ],
        "act_eef_pose_l": [
          436.31348750798236,
          397.0710907697836,
          79.71883144788791,
          1.7460832130176014,
          0.020925472780572923,
          0.9233392530524496
        ],
        "act_eef_pose_r": [
          542.4414644042035,
          -179.96274812687872,
          -8.739056653080297,
          1.4823424782577888,
          0.0018984966568669985,
          2.587150812674484
        ],
        "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": [
          0.45495358911638767,
          -0.23780749597301426,
          -0.15996141998185673,
          -1.4501215023165959,
          -0.12855056169534104,
          -0.5573050900944292,
          0.32442447704265076
        ],
        "joint_pos_r": [
          -0.5668883915724076,
          -0.9611950557636941,
          0.13664236083451883,
          -0.8763810328501941,
          0.2933215100502713,
          0.8757213355345252,
          -0.6755799214688218
        ],
        "eef_pose_l": [
          448.32077380380156,
          393.2262746284209,
          89.32445246411567,
          1.7152432165281426,
          -0.000171835321012099,
          0.8988694345252695
        ],
        "eef_pose_r": [
          535.1409356984271,
          -182.4114999749138,
          -7.883277650502322,
          1.4897861905972787,
          -0.0008896500895839254,
          2.583554722995939
        ],
        "joint_status_l": {
          "velocity": [
            5.396827442811336,
            3.817373077178221,
            -2.536336998130828,
            -5.07740973953652,
            0.15110861779898954,
            3.9233529740809736,
            -1.110305335065842
          ],
          "torque": [
            -14.4580078125,
            16.22314453125,
            -19.71435546875,
            -3.955078125,
            -1.2432861328125,
            -0.46142578125,
            -0.6756591796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9037927905763965,
            -3.6804784991826267,
            -0.3098658101294838,
            7.1594280059947835,
            -0.49049845534510084,
            4.002081264465218,
            1.0687327030911575
          ],
          "torque": [
            39.931640625,
            -0.5419921875,
            8.3251953125,
            -2.52685546875,
            2.08740234375,
            4.63623046875,
            0.7232666015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.0,
            -7.7,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.0,
            -7.7,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.2,
            -3.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.2,
            -3.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -351,
          "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": [
          0.5071537858808013,
          -0.20219679255204417,
          -0.18413951098897263,
          -1.4939855023608937,
          -0.12463793418341995,
          -0.5221023838948924,
          0.31199600399370364
        ],
        "act_joint_pos_r": [
          -0.557772772031004,
          -0.997096551687209,
          0.13361806522985673,
          -0.8038032407158386,
          0.288591383590763,
          0.9149143249675401,
          -0.6660531584894913
        ],
        "act_eef_pose_l": [
          436.27508750798233,
          398.21669076978367,
          78.68763144788778,
          1.7488390939659437,
          0.021342010745183684,
          0.9252204164618648
        ],
        "act_eef_pose_r": [
          543.3814644042035,
          -180.66754812687873,
          -8.968656653080188,
          1.482916814976478,
          0.0035851675613270957,
          2.584967499634319
        ],
        "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": [
          0.46404050113027734,
          -0.23152808644869607,
          -0.16419199460227735,
          -1.4580785460010735,
          -0.1280195494268776,
          -0.5510089491479223,
          0.3223643887629082
        ],
        "joint_pos_r": [
          -0.5653244506379325,
          -0.9674261976549701,
          0.1361175599282272,
          -0.8639506823029421,
          0.2924972312135157,
          0.8825143813955533,
          -0.6738718934578001
        ],
        "eef_pose_l": [
          446.2158870736746,
          394.0642856771666,
          87.43752784083378,
          1.7209028896416743,
          0.0038131041329163983,
          0.9033994266602707
        ],
        "eef_pose_r": [
          536.5791677624038,
          -182.07392165015435,
          -8.081897871386417,
          1.488490228819334,
          -0.00022193468964928445,
          2.583911895715574
        ],
        "joint_status_l": {
          "velocity": [
            4.656097428803463,
            3.1676863149245893,
            -2.1542682330177865,
            -3.877836916174715,
            0.365203675186887,
            3.1218169742572854,
            -1.1197525297390598
          ],
          "torque": [
            -13.67431640625,
            14.53125,
            -20.703125,
            -4.302978515625,
            -1.1883544921875,
            -0.146484375,
            -0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8155572359740404,
            -3.204303729594571,
            -0.26993746604397906,
            6.495732110029628,
            -0.4218191023683815,
            3.499090705610719,
            0.8443984723758291
          ],
          "torque": [
            39.6533203125,
            1.06201171875,
            8.502197265625,
            -2.764892578125,
            1.9189453125,
            4.698486328125,
            0.85418701171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.1,
            -7.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -16.1,
            -7.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.3,
            -3.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.3,
            -3.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -423,
          "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": [
          0.5125007799177022,
          -0.20282571073671424,
          -0.1836171148415987,
          -1.4840543509328614,
          -0.12517046267487986,
          -0.5202144260030385,
          0.31238776173584354
        ],
        "act_joint_pos_r": [
          -0.5576047242193627,
          -0.9946466647729939,
          0.13374195610554654,
          -0.801929001619155,
          0.2921075373883086,
          0.9110489204802705,
          -0.6714637928402994
        ],
        "act_eef_pose_l": [
          437.1054875079824,
          402.14069076978365,
          75.41083144788769,
          1.7559952642616141,
          0.02237825918741902,
          0.9360167586481521
        ],
        "act_eef_pose_r": [
          544.6966644042035,
          -183.1995481268787,
          -9.190256653080269,
          1.484848187606848,
          0.007544636415655115,
          2.5761724519859297
        ],
        "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": [
          0.4718019614439374,
          -0.22678541587324502,
          -0.16740544000806837,
          -1.4627299414166848,
          -0.1275307378062959,
          -0.5460189209369336,
          0.3207092446448984
        ],
        "joint_pos_r": [
          -0.5639680726996766,
          -0.9723634267315734,
          0.1356912411931719,
          -0.8530799141433321,
          0.2922497562549683,
          0.8877558388959037,
          -0.6731713328124473
        ],
        "eef_pose_l": [
          444.7143403501924,
          395.2550107073878,
          85.53629848956089,
          1.72631228623246,
          0.0070063554913413996,
          0.9083354947127363
        ],
        "eef_pose_r": [
          537.9783702253173,
          -182.15224604399722,
          -8.285366195986228,
          1.4877299413742362,
          0.0009344095005825852,
          2.5829743617412237
        ],
        "joint_status_l": {
          "velocity": [
            4.395342761461141,
            2.587571838393421,
            -1.7508092446627543,
            -2.3029683053259475,
            0.25490219625456945,
            2.7868032604922988,
            -0.8986936486259367
          ],
          "torque": [
            -12.91259765625,
            15.93017578125,
            -20.08056640625,
            -4.730224609375,
            -1.0382080078125,
            -0.4998779296875,
            -0.70037841796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.687221367362767,
            -2.4065187319965986,
            -0.21051658060888823,
            5.5241356269402075,
            -0.01535918460415786,
            2.515578618085712,
            0.184408878142861
          ],
          "torque": [
            38.53271484375,
            1.4501953125,
            7.99560546875,
            -1.86767578125,
            2.6824951171875,
            4.6527099609375,
            0.78826904296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.2,
            -6.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.3,
            -16.2,
            -6.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.5,
            -2.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.5,
            -2.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -360,
          "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": [
          0.5138761090527869,
          -0.203944390765644,
          -0.18268044043792014,
          -1.4762534867523827,
          -0.10561442422533354,
          -0.5133970919976008,
          0.2945619737540607
        ],
        "act_joint_pos_r": [
          -0.560606164278266,
          -0.9862301927398909,
          0.13436421909842,
          -0.813447451905998,
          0.30049206591927025,
          0.8956613688696289,
          -0.6815090063644383
        ],
        "act_eef_pose_l": [
          438.03588750798235,
          405.5086907697836,
          71.6060314478878,
          1.7707011519548161,
          0.022257020607378854,
          0.9460984714224304
        ],
        "act_eef_pose_r": [
          545.0558644042035,
          -186.2659481268787,
          -10.105456653080182,
          1.4888441531267664,
          0.009165154048812935,
          2.562411252629362
        ],
        "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": [
          0.477010816494119,
          -0.2238309789578282,
          -0.1693940331518697,
          -1.4649639735682576,
          -0.12609689468827665,
          -0.5423708403733034,
          0.3186247043725292
        ],
        "joint_pos_r": [
          -0.5633006865110636,
          -0.9749087666791492,
          0.1354572428095307,
          -0.8464611419475706,
          0.2930621369606619,
          0.8897610882873698,
          -0.6739112858352401
        ],
        "eef_pose_l": [
          443.8350223390122,
          396.3192921809881,
          84.00549728672297,
          1.7308771271881087,
          0.00908179974554381,
          0.9123858475979888
        ],
        "eef_pose_r": [
          539.0493487524932,
          -182.61452619614306,
          -8.523724250666248,
          1.4876925010508546,
          0.002083148147235169,
          2.5805706538185946
        ],
        "joint_status_l": {
          "velocity": [
            3.981334173161155,
            2.1476881820789995,
            -1.4348896670848266,
            -1.2192314645744773,
            2.212041569319201,
            3.129072537514599,
            -2.598698262286536
          ],
          "torque": [
            -15.59326171875,
            16.1279296875,
            -20.361328125,
            -3.3203125,
            -0.179443359375,
            -0.06591796875,
            -0.61981201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2909998185618434,
            -1.2226779536010923,
            -0.11804307930551872,
            3.565373369423419,
            0.802408661750853,
            0.6372115093347119,
            -0.8205296169254694
          ],
          "torque": [
            38.41552734375,
            1.083984375,
            7.8125,
            -1.959228515625,
            3.797607421875,
            4.2681884765625,
            -0.2288818359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -17.1,
            -6.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.2,
            -17.1,
            -6.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            -2.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            -2.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.5132937010622641,
          -0.20524619307954126,
          -0.1813521549898007,
          -1.4670005139788378,
          -0.08707991949815132,
          -0.5155175063549413,
          0.2748724127793966
        ],
        "act_joint_pos_r": [
          -0.561824295095521,
          -0.9798862850520801,
          0.1348243341205613,
          -0.8212165668048014,
          0.30121754515404264,
          0.8858093368362989,
          -0.6824757093048285
        ],
        "act_eef_pose_l": [
          438.5062875079824,
          407.96709076978357,
          69.06283144788796,
          1.781168350313582,
          0.025145946158309257,
          0.9498429533863472
        ],
        "act_eef_pose_r": [
          545.0310644042034,
          -188.3827481268787,
          -10.833456653080248,
          1.494132677554103,
          0.008655115088795361,
          2.5556391158603784
        ],
        "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": [
          0.4852189833005155,
          -0.21952763371713102,
          -0.17221135060494103,
          -1.4663340182544191,
          -0.11915988266888303,
          -0.5361292829816853,
          0.31073784660036646
        ],
        "joint_pos_r": [
          -0.5629454339562923,
          -0.9762794919209271,
          0.1353097524623687,
          -0.84139680059174,
          0.2944479708030713,
          0.8898243731335286,
          -0.6753507800027541
        ],
        "eef_pose_l": [
          442.6426126400581,
          398.67425057785067,
          80.84378158396561,
          1.7411674260526435,
          0.01267253020368007,
          0.9203219271268546
        ],
        "eef_pose_r": [
          540.1199824594061,
          -183.46353158735624,
          -8.881416913080045,
          1.4884279573542765,
          0.0032676045028618146,
          2.5766837712641557
        ],
        "joint_status_l": {
          "velocity": [
            3.031980094795994,
            1.5423500996751827,
            -0.9871777583130292,
            -0.0719794153170028,
            3.4645338414754923,
            2.2260062231445055,
            -3.8733526142356034
          ],
          "torque": [
            -13.85009765625,
            15.7177734375,
            -19.940185546875,
            -4.046630859375,
            -0.5181884765625,
            0.03662109375,
            -0.65826416015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.12107942591654819,
            -0.3895221698213547,
            -0.052423634762766014,
            2.1794009709932283,
            0.7310924674852615,
            -0.43361113142470487,
            -0.7694696703284265
          ],
          "torque": [
            38.6572265625,
            1.4501953125,
            11.68212890625,
            -2.471923828125,
            4.2095947265625,
            2.9132080078125,
            -0.56304931640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -15.9,
            -6.1,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.3,
            -15.9,
            -6.1,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.1,
            -1.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.1,
            -1.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -364,
          "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": [
          0.5098739242318224,
          -0.2062644348995223,
          -0.18084200397369987,
          -1.4671540554141087,
          -0.06524277622945521,
          -0.5107193941742608,
          0.25285801104291666
        ],
        "act_joint_pos_r": [
          -0.5645929551787789,
          -0.9725074611021862,
          0.1354111995160067,
          -0.8334376410887909,
          0.3060098881986457,
          0.8772052452614773,
          -0.6864578263867916
        ],
        "act_eef_pose_l": [
          438.8726875079824,
          407.97989076978365,
          67.96683144788773,
          1.7901807619146932,
          0.026350136426622938,
          0.9511239081651599
        ],
        "act_eef_pose_r": [
          543.9990644042035,
          -189.8579481268787,
          -11.115056653080046,
          1.495437903039815,
          0.006812684521685371,
          2.5508137266179216
        ],
        "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": [
          0.48846329695822915,
          -0.21781531462467782,
          -0.17331947570706152,
          -1.466431198227731,
          -0.11324160884327886,
          -0.5331196615242275,
          0.30432729726942387
        ],
        "joint_pos_r": [
          -0.5630961184768112,
          -0.9759873112077767,
          0.13529788420320638,
          -0.8393688863638114,
          0.2962488277572703,
          0.8880301785713899,
          -0.6771123606330888
        ],
        "eef_pose_l": [
          442.1735896049392,
          399.8251180178981,
          79.23435135151584,
          1.7470412975595615,
          0.014490443163216944,
          0.9240364778354879
        ],
        "eef_pose_r": [
          540.8666374330694,
          -184.51127040067308,
          -9.261927962314218,
          1.4895927203948747,
          0.003975703998221209,
          2.572347182411417
        ],
        "joint_status_l": {
          "velocity": [
            2.3122795485082115,
            1.2474582185033611,
            -0.8124090920715865,
            -0.0780662736872273,
            5.1837210366133535,
            2.4191575245593455,
            -5.558518972708981
          ],
          "torque": [
            -14.65576171875,
            16.4794921875,
            -21.136474609375,
            -4.33349609375,
            -0.596923828125,
            -0.4852294921875,
            -0.7562255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.16165359609399133,
            0.37581272740006,
            0.012237692850858295,
            0.6405555975250721,
            1.054163436779998,
            -1.169058317938898,
            -1.0092805342614142
          ],
          "torque": [
            29.72900390625,
            6.26220703125,
            10.821533203125,
            -2.777099609375,
            4.2755126953125,
            2.4151611328125,
            -0.67657470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -17.4,
            -6.6,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.3,
            -17.4,
            -6.6,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.3,
            -2.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.3,
            -2.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "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": [
          0.5072753671999892,
          -0.209506590333115,
          -0.17828293306460985,
          -1.460483668403794,
          -0.05294912658885846,
          -0.5119408238063424,
          0.24494233671830276
        ],
        "act_joint_pos_r": [
          -0.5652393804659334,
          -0.9695525267492846,
          0.13567476656713143,
          -0.8401185076524175,
          0.3077203160734214,
          0.8728527058525256,
          -0.6885375367455124
        ],
        "act_eef_pose_l": [
          439.76468750798233,
          408.7838907697836,
          66.32763144788788,
          1.7963691616853956,
          0.023426283006631812,
          0.9511333390425921
        ],
        "act_eef_pose_r": [
          543.4678644042035,
          -189.9427481268787,
          -10.859856653080215,
          1.4955932669783754,
          0.00672922567764264,
          2.5497955355048845
        ],
        "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": [
          0.4918690098165823,
          -0.21605875664891935,
          -0.17444378356902998,
          -1.4662571570008092,
          -0.10481104937524979,
          -0.529490791148135,
          0.2955184344493415
        ],
        "joint_pos_r": [
          -0.5633699393269238,
          -0.9752460311264248,
          0.13533408855615514,
          -0.8389502546354134,
          0.2978538336115418,
          0.8860731811815901,
          -0.6786809071686057
        ],
        "eef_pose_l": [
          441.68984956458064,
          401.17235771351017,
          77.27687902009532,
          1.754485390993318,
          0.016465104700608926,
          0.9283445011857493
        ],
        "eef_pose_r": [
          541.3093100076844,
          -185.32413429358948,
          -9.523198794239022,
          1.4904792010936103,
          0.004394587567271305,
          2.5689976876938903
        ],
        "joint_status_l": {
          "velocity": [
            1.663837525143208,
            0.7076130921743751,
            -0.414615917079697,
            0.623518378787935,
            5.6009224705521055,
            1.8953405728319161,
            -5.462057460178915
          ],
          "torque": [
            -14.78759765625,
            18.09814453125,
            -22.0947265625,
            -4.193115234375,
            -0.6829833984375,
            -0.439453125,
            -0.73883056640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2018936884766731,
            0.6148803378049905,
            0.03679214005924969,
            -0.12616760472106137,
            1.0655486792043867,
            -1.4277692257369523,
            -1.064484599010207
          ],
          "torque": [
            27.51708984375,
            6.3427734375,
            10.90087890625,
            -6.0791015625,
            4.3377685546875,
            2.332763671875,
            -0.72601318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.9,
            -6.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.3,
            -16.9,
            -6.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.5,
            -2.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.5,
            -2.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -389,
          "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": [
          0.504759234134593,
          -0.21109525361695863,
          -0.1770546037828065,
          -1.4569221972346194,
          -0.04603297626324062,
          -0.5149947546003295,
          0.2395049338433031
        ],
        "act_joint_pos_r": [
          -0.5646359590733142,
          -0.9690471432081478,
          0.13571564142316384,
          -0.8409469518205518,
          0.3076896568070935,
          0.8717874600563614,
          -0.6894480633026311
        ],
        "act_eef_pose_l": [
          440.1446875079824,
          408.88389076978365,
          66.10523144788777,
          1.7982406437417562,
          0.022515962020831448,
          0.9491545943773495
        ],
        "act_eef_pose_r": [
          543.6174644042035,
          -190.06194812687872,
          -10.552656653080248,
          1.4957618688337215,
          0.008113041521323406,
          2.5491988379321677
        ],
        "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": [
          0.49437688307455413,
          -0.21503672227032622,
          -0.17501708136062838,
          -1.464930475670324,
          -0.0950474259159542,
          -0.5266500988478439,
          0.28610915916404955
        ],
        "joint_pos_r": [
          -0.5636552412457286,
          -0.9741127187837013,
          0.13540310176640813,
          -0.8392645817522448,
          0.2997155049585829,
          0.8834538157984019,
          -0.6806469220206333
        ],
        "eef_pose_l": [
          441.39875179081434,
          402.4946782990289,
          75.2980110755251,
          1.7621166226788745,
          0.01773249644111964,
          0.9320649628543389
        ],
        "eef_pose_r": [
          541.7393508661154,
          -186.20670242698986,
          -9.739123554635682,
          1.4914511082043493,
          0.004989277416981853,
          2.5652912660567915
        ],
        "joint_status_l": {
          "velocity": [
            1.121260844662686,
            0.42566606021443576,
            -0.2200459316872294,
            0.8648685631218456,
            5.2934044418743165,
            1.2587400541783644,
            -5.033107891058819
          ],
          "torque": [
            -15.6884765625,
            17.63671875,
            -21.76513671875,
            0.042724609375,
            -0.435791015625,
            -0.263671875,
            -0.63629150390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1059144016002378,
            0.547066027309917,
            0.03375328742949435,
            -0.18169060869954734,
            0.8611830004041643,
            -1.259929260513104,
            -0.9504952250978249
          ],
          "torque": [
            27.13623046875,
            7.34619140625,
            11.419677734375,
            -6.805419921875,
            4.478759765625,
            2.2064208984375,
            -0.58868408203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.7,
            -6.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.0,
            -16.7,
            -6.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.3,
            -2.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.3,
            -2.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -295,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -190,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4971182443174358,
          -0.21269532948538294,
          -0.17665769092472633,
          -1.467243093355608,
          -0.030002046242845345,
          -0.5049216171928794,
          0.22694838108140078
        ],
        "act_joint_pos_r": [
          -0.5608987078629459,
          -0.9726863858475647,
          0.13537850285382275,
          -0.8318494292993027,
          0.30881297881395264,
          0.8723481209642626,
          -0.6927103540865094
        ],
        "act_eef_pose_l": [
          440.74868750798237,
          405.59669076978366,
          67.77803144788783,
          1.7997830839263878,
          0.01812252111351644,
          0.9452372633646313
        ],
        "act_eef_pose_r": [
          546.0062644042034,
          -190.8203481268787,
          -9.605456653080182,
          1.495406448756405,
          0.014141961940401838,
          2.544130738592836
        ],
        "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": [
          0.49563967689161614,
          -0.21448174327053968,
          -0.17532897602353578,
          -1.4642136971005202,
          -0.08605812508049016,
          -0.5241486667590861,
          0.27771798328452496
        ],
        "joint_pos_r": [
          -0.5634831323645253,
          -0.9736563487795719,
          0.13542158831516854,
          -0.8387386087302493,
          0.30102241950289504,
          0.8817310731631407,
          -0.6822630766672377
        ],
        "eef_pose_l": [
          441.23202089052296,
          403.3264955108573,
          73.86406980046411,
          1.768215528838825,
          0.018350316616552353,
          0.9345281446669261
        ],
        "eef_pose_r": [
          542.2333983354969,
          -186.85328853810284,
          -9.78128574428007,
          1.4920723900810549,
          0.0059799151325665555,
          2.562407401344242
        ],
        "joint_status_l": {
          "velocity": [
            0.159680572461518,
            0.19292699871931163,
            -0.14349697711124598,
            -0.3271651463290226,
            6.053877964879217,
            2.0764601112333025,
            -5.482955326814309
          ],
          "torque": [
            -16.45751953125,
            17.76123046875,
            -20.745849609375,
            -2.91748046875,
            0.252685546875,
            0.1318359375,
            -0.67840576171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.27910961427313197,
            0.10475290713607421,
            -0.004653092589679275,
            0.7440094351576221,
            0.8413555911372939,
            -1.0133289509397514,
            -1.1282726846566504
          ],
          "torque": [
            34.8779296875,
            7.8662109375,
            11.53564453125,
            -3.0517578125,
            4.5281982421875,
            2.1954345703125,
            -0.57037353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.4,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.4,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.7,
            -2.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.7,
            -2.0,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -353,
          "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": [
          0.4938477094980251,
          -0.21883726000182505,
          -0.17180003713368017,
          -1.450555410434394,
          -0.03299964206795669,
          -0.5202857802586696,
          0.23688019070972102
        ],
        "act_joint_pos_r": [
          -0.5589287414044506,
          -0.9778388938983686,
          0.13492909919282192,
          -0.8205548280322028,
          0.3134354209089829,
          0.8747301507326597,
          -0.6966692438057025
        ],
        "act_eef_pose_l": [
          442.18308750798235,
          406.78549076978356,
          66.81083144788778,
          1.7982236674349732,
          0.012839434866516501,
          0.9393034801679689
        ],
        "act_eef_pose_r": [
          548.3358644042034,
          -191.4563481268787,
          -9.263056653080184,
          1.4932051168149338,
          0.01705246036234367,
          2.538276924937531
        ],
        "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": [
          0.49568336967984644,
          -0.21458688875624798,
          -0.1752299070752232,
          -1.4635831542021902,
          -0.07567757957373747,
          -0.5216218244920106,
          0.2688367468192606
        ],
        "joint_pos_r": [
          -0.5627411491337206,
          -0.9740427282198935,
          0.1353622125363872,
          -0.8360787896457542,
          0.3031105864633836,
          0.8801131057058785,
          -0.6848105902522437
        ],
        "eef_pose_l": [
          441.2404659719251,
          403.8141389226654,
          72.62654002550298,
          1.7741395273820848,
          0.01799524972635144,
          0.9360181487327363
        ],
        "eef_pose_r": [
          543.2615102983598,
          -187.71622870806212,
          -9.71019447781299,
          1.4924994520438444,
          0.00794782646696173,
          2.5580682489571114
        ],
        "joint_status_l": {
          "velocity": [
            -0.19824545269964133,
            -0.45902655625762456,
            0.3704150288794672,
            1.406954831008278,
            4.609081313037389,
            0.14428852163828054,
            -3.4512062719422865
          ],
          "torque": [
            -21.7529296875,
            12.25341796875,
            -11.85302734375,
            -0.23193359375,
            -0.35888671875,
            -0.5877685546875,
            -0.49072265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.41172789149612754,
            -0.4099738017444565,
            -0.04677486155435506,
            1.676538407406447,
            1.1150492335056938,
            -0.5813419913431872,
            -1.280696811639892
          ],
          "torque": [
            38.701171875,
            2.3291015625,
            11.29150390625,
            -2.45361328125,
            4.365234375,
            2.3583984375,
            -0.61981201171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.9,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.9,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -16.8,
            -3.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -16.8,
            -3.1,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -349,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.48094788750549317,
          -0.23310092817690867,
          -0.16205809285228984,
          -1.4216112452327767,
          -0.03256795769466456,
          -0.5442234360975999,
          0.2446633833440589
        ],
        "act_joint_pos_r": [
          -0.558744973585836,
          -0.9851072861189857,
          0.1343800100394048,
          -0.8098503528701627,
          0.3180491903189573,
          0.8794722806546412,
          -0.7004708991236066
        ],
        "act_eef_pose_l": [
          446.2438875079824,
          407.5302907697836,
          66.90203144788785,
          1.793293815776819,
          0.005107106319345036,
          0.9285675253750826
        ],
        "act_eef_pose_r": [
          549.7382644042035,
          -190.46194812687872,
          -9.502256653080167,
          1.4894277375204314,
          0.017764044889845572,
          2.536577221973715
        ],
        "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": [
          0.4942508972409651,
          -0.2165634375118957,
          -0.17378678198659525,
          -1.4587938451029965,
          -0.06809468584693108,
          -0.5234415067617333,
          0.26385502522210125
        ],
        "joint_pos_r": [
          -0.562093670203408,
          -0.9754869860524555,
          0.1352290499522853,
          -0.8323187995559473,
          0.3053285718608196,
          0.8797632883416097,
          -0.6871890871107595
        ],
        "eef_pose_l": [
          441.7631772989862,
          404.39540639413735,
          71.61195415933057,
          1.7778937502284997,
          0.016400674477477683,
          0.9356611991744539
        ],
        "eef_pose_r": [
          544.2609012246802,
          -188.21437788829948,
          -9.667790058304206,
          1.4921933455151657,
          0.009520730607874601,
          2.554627189273855
        ],
        "joint_status_l": {
          "velocity": [
            -1.4366826787401976,
            -1.785996316675753,
            1.2666610683336188,
            4.015602352122727,
            3.836773480859812,
            -2.2443821737594405,
            -2.0726361936918014
          ],
          "torque": [
            -24.19921875,
            8.04931640625,
            -10.858154296875,
            0.299072265625,
            -0.4705810546875,
            -2.039794921875,
            -0.54840087890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3616485684432291,
            -1.038961764646018,
            -0.0916936062328455,
            2.4265206756632907,
            1.3737862758183006,
            -0.03142790327625988,
            -1.434393392215405
          ],
          "torque": [
            40.18798828125,
            0.5712890625,
            7.84912109375,
            -2.83203125,
            4.3597412109375,
            3.0743408203125,
            -0.703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.2,
            -5.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.2,
            -5.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.8,
            -3.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.8,
            -3.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.45827353259507625,
          -0.24878527907581782,
          -0.15314234885824246,
          -1.3978804443076562,
          -0.005944933273267131,
          -0.5701581855015692,
          0.22576494476523407
        ],
        "act_joint_pos_r": [
          -0.5586097624301999,
          -0.9924655253974243,
          0.13390244680890676,
          -0.803784924576301,
          0.3135141005114738,
          0.8905119496588482,
          -0.6938785534881416
        ],
        "act_eef_pose_l": [
          450.29668750798237,
          405.0182907697837,
          69.3732314478878,
          1.7917788984935925,
          -0.0019259026930303238,
          0.9075294259767595
        ],
        "act_eef_pose_r": [
          548.7262644042034,
          -186.85234812687872,
          -9.410256653080296,
          1.485034267897069,
          0.013861911446986487,
          2.5486840145931047
        ],
        "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": [
          0.49091396383383057,
          -0.21998516159957116,
          -0.17148833263662538,
          -1.451770717395447,
          -0.0611548448437951,
          -0.5281031642400957,
          0.2598436440767547
        ],
        "joint_pos_r": [
          -0.561486334880433,
          -0.9780182604767469,
          0.1350250429745809,
          -0.827661749236708,
          0.3070659318084008,
          0.8809575831549602,
          -0.6887935242408473
        ],
        "eef_pose_l": [
          442.69201980062985,
          404.72562684115945,
          71.0559274848672,
          1.779920724394538,
          0.0142275079992934,
          0.9333639243265638
        ],
        "eef_pose_r": [
          545.1217370978665,
          -188.20468550122703,
          -9.633282769197024,
          1.491211451088004,
          0.010529379917956893,
          2.5528077219815297
        ],
        "joint_status_l": {
          "velocity": [
            -3.525062607621532,
            -3.1103209534215637,
            1.981307812515043,
            5.819977842410395,
            5.962494595239065,
            -4.541808342762188,
            -3.6803909783147404
          ],
          "torque": [
            -30.1171875,
            1.22314453125,
            -7.049560546875,
            3.564453125,
            0.5657958984375,
            -3.358154296875,
            -0.59600830078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.31066066217899646,
            -1.560258594065722,
            -0.1212368102043726,
            2.578621010962401,
            0.6963816812519674,
            1.0318411498912994,
            -0.5491669618944428
          ],
          "torque": [
            39.54345703125,
            0.17578125,
            7.952880859375,
            -1.983642578125,
            4.0521240234375,
            4.0081787109375,
            -0.84869384765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.5,
            -6.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.2,
            -16.5,
            -6.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.7,
            -2.9,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.7,
            -2.9,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.4509342917478542,
          -0.2553491627209839,
          -0.14992665247257592,
          -1.388577059181289,
          -0.006081435061929277,
          -0.5772662622209183,
          0.22709952194514368
        ],
        "act_joint_pos_r": [
          -0.5602180630219502,
          -0.9941470219472666,
          0.13385640216023262,
          -0.8067190455214902,
          0.31410076840692813,
          0.8883368818435906,
          -0.6951773945043507
        ],
        "act_eef_pose_l": [
          452.4310875079824,
          404.3854907697837,
          70.69243144788771,
          1.787486346600847,
          -0.00451987417972588,
          0.9031398570089249
        ],
        "act_eef_pose_r": [
          548.1006644042035,
          -185.14354812687873,
          -10.075056653080082,
          1.4849316301005056,
          0.01229894310732759,
          2.5506581881498764
        ],
        "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": [
          0.4841133750521925,
          -0.22599319646591612,
          -0.16774407860586418,
          -1.4407844283624887,
          -0.050729847998513815,
          -0.5366636058906207,
          0.2535161276074933
        ],
        "joint_pos_r": [
          -0.5611804134893847,
          -0.9807845634544078,
          0.1348207559091722,
          -0.8238098888630004,
          0.3082799551400477,
          0.8823727696963627,
          -0.6898562823360462
        ],
        "eef_pose_l": [
          444.3340407463028,
          404.73260637400205,
          70.87075870557146,
          1.7813725370114593,
          0.010886494812094546,
          0.9281001726800342
        ],
        "eef_pose_r": [
          545.6848269826799,
          -187.75263056399865,
          -9.681187102878908,
          1.4901069709444723,
          0.010914880132387934,
          2.5523317800185246
        ],
        "joint_status_l": {
          "velocity": [
            -3.5832353149922724,
            -3.170350851046999,
            1.9242252704045892,
            5.638229580876342,
            4.82188638321418,
            -4.3849575562617815,
            -2.852909269472681
          ],
          "torque": [
            -27.25341796875,
            6.38671875,
            -9.92431640625,
            0.946044921875,
            -0.703125,
            -2.4884033203125,
            -0.6097412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.10393078520820609,
            -1.4431029551822405,
            -0.10414713323003699,
            1.8457566432008576,
            0.6286292923927128,
            0.6441051150352095,
            -0.5746631653922307
          ],
          "torque": [
            38.9794921875,
            -0.322265625,
            8.099365234375,
            -2.178955078125,
            4.3450927734375,
            4.1455078125,
            -0.84686279296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -17.2,
            -6.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -17.2,
            -6.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.1,
            -3.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.1,
            -3.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -377,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.443660691517203,
          -0.2686348455093285,
          -0.1434716193241704,
          -1.3611735424370028,
          -0.007714422350728356,
          -0.6015424300518327,
          0.23399477391163762
        ],
        "act_joint_pos_r": [
          -0.560749149704046,
          -0.9989903064222949,
          0.13354074748013028,
          -0.8020724413062303,
          0.3140183147611415,
          0.8902866287056477,
          -0.6932133339650183
        ],
        "act_eef_pose_l": [
          455.60388750798234,
          404.8478907697836,
          70.12043144788782,
          1.783696977862503,
          -0.008064769548615043,
          0.8924692562128029
        ],
        "act_eef_pose_r": [
          548.3446644042035,
          -183.58194812687873,
          -10.763056653080184,
          1.4842758498511044,
          0.00940614457628024,
          2.5525265968490705
        ],
        "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": [
          0.4782362211464982,
          -0.23159120858471813,
          -0.16443987625451362,
          -1.430609367875305,
          -0.04348474967847564,
          -0.5447491761321465,
          0.24957404244617534
        ],
        "joint_pos_r": [
          -0.5610750322051852,
          -0.9834630275849534,
          0.13463082399351148,
          -0.8205380584932739,
          0.30922866842608543,
          0.8835471738857061,
          -0.6905356926806377
        ],
        "eef_pose_l": [
          445.8718432337251,
          404.71760864376216,
          70.81263660108593,
          1.7818249998025228,
          0.008121943153325725,
          0.9233949209052322
        ],
        "eef_pose_r": [
          546.1107135880808,
          -187.1712144553187,
          -9.817256946435606,
          1.489190714072067,
          0.01084917071684933,
          2.5522443771349077
        ],
        "joint_status_l": {
          "velocity": [
            -3.7340470701323625,
            -4.000594796621293,
            2.264504960473257,
            7.498847980638601,
            3.863081415900693,
            -6.133490525692675,
            -1.6825113787095614
          ],
          "torque": [
            -28.2275390625,
            2.5927734375,
            -8.599853515625,
            4.7119140625,
            -0.76171875,
            -3.651123046875,
            -0.60699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.03519427212328452,
            -1.6768966570097632,
            -0.11772479133809188,
            1.9942278395950197,
            0.51726654822426,
            0.7278396540701948,
            -0.28917672990136367
          ],
          "torque": [
            37.14111328125,
            0.47607421875,
            7.7880859375,
            -2.734375,
            4.2919921875,
            4.4073486328125,
            -0.69580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.2,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.2,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.4,
            -1.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.4,
            -1.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4397781658810415,
          -0.27693444527664596,
          -0.14019090408707255,
          -1.3508608649153826,
          -0.0051265422021856575,
          -0.6102103119816087,
          0.2322865753322446
        ],
        "act_joint_pos_r": [
          -0.5614679598419547,
          -0.996814140570039,
          0.13374619566492088,
          -0.808582591859156,
          0.3204782864601082,
          0.8870252690614162,
          -0.6975708754335278
        ],
        "act_eef_pose_l": [
          457.32548750798236,
          403.4806907697837,
          69.48443144788786,
          1.7831554774947016,
          -0.007099363444068826,
          0.8857532748756732
        ],
        "act_eef_pose_r": [
          548.0326644042035,
          -183.4955481268787,
          -9.87425665308001,
          1.480714510607516,
          0.008163359519070278,
          2.550570012476142
        ],
        "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": [
          0.4717895227846561,
          -0.23885365326953942,
          -0.1604507451047641,
          -1.417446817029456,
          -0.03693799277806244,
          -0.5555351493661259,
          0.2466727866931064
        ],
        "joint_pos_r": [
          -0.5610985260046836,
          -0.985962816322224,
          0.13446127265490543,
          -0.8180078059030385,
          0.31080447960965807,
          0.8843707451262648,
          -0.6915008394526273
        ],
        "eef_pose_l": [
          447.77364189231116,
          404.65322468843533,
          70.630607450246,
          1.7817374007935045,
          0.0053381554340922845,
          0.9173984224154751
        ],
        "eef_pose_r": [
          546.4736204468769,
          -186.52822047321987,
          -9.885929938892957,
          1.4879181827451657,
          0.01045125222172372,
          2.55207676763549
        ],
        "joint_status_l": {
          "velocity": [
            -3.457124583151394,
            -4.112604241989004,
            2.1879982983503687,
            7.191070739025918,
            3.4355353364962093,
            -5.904743411374369,
            -1.5536650040735012
          ],
          "torque": [
            -27.25341796875,
            7.6904296875,
            -9.259033203125,
            1.46484375,
            -0.904541015625,
            -2.5323486328125,
            -0.63812255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0398976777056248,
            -1.1719084551709003,
            -0.07722603725823785,
            1.0178930955877519,
            1.044740326879623,
            0.28668012981825086,
            -0.6555445516838176
          ],
          "torque": [
            37.529296875,
            0.49072265625,
            7.94677734375,
            -3.082275390625,
            4.4769287109375,
            4.368896484375,
            -0.662841796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.1,
            -6.4,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.1,
            -6.4,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.4,
            -2.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.4,
            -2.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -438,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -164,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.43530296930359624,
          -0.2822320764665016,
          -0.13875701542881647,
          -1.3505514015086675,
          -0.004137206604213162,
          -0.6082106692938873,
          0.22996196735559876
        ],
        "act_joint_pos_r": [
          -0.5634181185606675,
          -0.9961586097529332,
          0.1339269689113196,
          -0.8194009818277989,
          0.32340299877752177,
          0.8885107422235611,
          -0.7017142567606195
        ],
        "act_eef_pose_l": [
          458.9070875079824,
          401.35989076978365,
          70.3524314478878,
          1.7806247119548018,
          -0.006563878809683509,
          0.8832009852949877
        ],
        "act_eef_pose_r": [
          545.6518644042035,
          -180.5787481268787,
          -8.847856653080044,
          1.4743440927186213,
          0.007217145451928452,
          2.5588578458525943
        ],
        "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": [
          0.4653538332787468,
          -0.24650732656172095,
          -0.15649773317809795,
          -1.4048330246048586,
          -0.030839479143280085,
          -0.5656990413752851,
          0.2437536083669163
        ],
        "joint_pos_r": [
          -0.561414125047652,
          -0.9879315078431035,
          0.13434887794424863,
          -0.8175894430458377,
          0.3130017650670168,
          0.8850597504551915,
          -0.693170457351819
        ],
        "eef_pose_l": [
          449.7410539968649,
          404.280970188564,
          70.4756244024498,
          1.781477293413733,
          0.003054580448922783,
          0.9112422559833975
        ],
        "eef_pose_r": [
          546.4589409851858,
          -185.5097793416057,
          -9.743063237970802,
          1.4855859720172029,
          0.009859430692329361,
          2.5529358152701525
        ],
        "joint_status_l": {
          "velocity": [
            -3.245397591431054,
            -3.858159199393141,
            1.9159410092630669,
            5.862242396792894,
            2.883760382253131,
            -4.591120407350324,
            -1.4894533001454935
          ],
          "torque": [
            -29.47265625,
            5.10498046875,
            -9.112548828125,
            0.201416015625,
            -0.758056640625,
            -2.772216796875,
            -0.60333251953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2164249162941445,
            -0.8885008013308493,
            -0.045564831693600816,
            -0.19564041834563284,
            1.1233001107684437,
            0.37269611889900744,
            -0.9227031224758875
          ],
          "torque": [
            30.18310546875,
            0.41748046875,
            11.895751953125,
            -5.6640625,
            4.39453125,
            4.31396484375,
            -0.64453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -17.1,
            -5.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.2,
            -17.1,
            -5.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.8,
            -3.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.8,
            -3.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -383,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.43578787913043515,
          -0.2847709805924315,
          -0.13808846940290295,
          -1.346111387796628,
          -0.008607460848908849,
          -0.6117094944465,
          0.23430559074702642
        ],
        "act_joint_pos_r": [
          -0.5649503814454122,
          -1.0053464782124721,
          0.13332890322424393,
          -0.8110295316899879,
          0.3190797525436526,
          0.8953759765540397,
          -0.6970200946097437
        ],
        "act_eef_pose_l": [
          459.47108750798236,
          401.3342907697836,
          70.07963144788783,
          1.778617178564733,
          -0.006146505577874487,
          0.8821511789938591
        ],
        "act_eef_pose_r": [
          545.1374644042035,
          -176.9779481268787,
          -10.457456653080271,
          1.473596861383149,
          0.003318368473291538,
          2.5671412499157555
        ],
        "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": [
          0.46044857423537555,
          -0.2525633682639662,
          -0.15353303857977552,
          -1.3955892461680175,
          -0.026772063216292746,
          -0.572940026155631,
          0.24179950974604061
        ],
        "joint_pos_r": [
          -0.5617075381461523,
          -0.9892632874683434,
          0.13427500936676712,
          -0.8174262983224815,
          0.31398564958884323,
          0.8857506008157572,
          -0.6939284579992104
        ],
        "eef_pose_l": [
          451.3034926613083,
          403.8234611208441,
          70.42027604425235,
          1.781007087127374,
          0.0015385390607139395,
          0.906588199668407
        ],
        "eef_pose_r": [
          546.3588902406484,
          -184.85946094936222,
          -9.726935928465792,
          1.4844396140671465,
          0.009422869432541649,
          2.553892502896365
        ],
        "joint_status_l": {
          "velocity": [
            -2.663276522191449,
            -3.4783195439227477,
            1.6679642771255665,
            5.343451107444608,
            1.9617191978624493,
            -4.186979087067222,
            -0.8093193822942268
          ],
          "torque": [
            -29.15771484375,
            6.5478515625,
            -10.064697265625,
            0.128173828125,
            -0.9832763671875,
            -2.845458984375,
            -0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3502167472291262,
            -1.7369333722543345,
            -0.10217644985921481,
            0.6908304213562033,
            0.5501468934041576,
            1.0395099210285252,
            -0.333886906469516
          ],
          "torque": [
            28.2861328125,
            0.41015625,
            10.3759765625,
            -6.146240234375,
            4.471435546875,
            4.573974609375,
            -0.6939697265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.6,
            -5.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.6,
            -5.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.4,
            -2.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.4,
            -2.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -362,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4363039312213684,
          -0.2856078150821306,
          -0.13799765727732105,
          -1.3441605933727714,
          -0.010518346795751792,
          -0.6145023113046331,
          0.23563554485707128
        ],
        "act_joint_pos_r": [
          -0.5639272432745233,
          -1.010533678658908,
          0.13290408930793973,
          -0.7989030536357016,
          0.3180243809559347,
          0.9020564427894968,
          -0.6924081796239976
        ],
        "act_eef_pose_l": [
          459.50388750798237,
          401.26069076978365,
          69.97403144788797,
          1.7775958985799893,
          -0.005175996555238225,
          0.8808784462377263
        ],
        "act_eef_pose_r": [
          546.3598644042034,
          -177.1155481268787,
          -10.871056653080132,
          1.4729912320066194,
          0.001211700741287886,
          2.567127813698402
        ],
        "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": [
          0.45614658879364617,
          -0.25835237565901886,
          -0.15079206141040039,
          -1.3866210116978444,
          -0.02377603857347491,
          -0.5801099434230709,
          0.24062459764240765
        ],
        "joint_pos_r": [
          -0.5621930270038216,
          -0.9925524379666189,
          0.13407124433896284,
          -0.8152538032260211,
          0.31479568832244964,
          0.8880262057445086,
          -0.6940789870654006
        ],
        "eef_pose_l": [
          452.76443592344054,
          403.39636674110403,
          70.3331551663587,
          1.7803412056617316,
          0.0003259834326703299,
          0.9021522466298401
        ],
        "eef_pose_r": [
          546.2560370147321,
          -183.47714317526112,
          -9.897185592389434,
          1.4824813295078725,
          0.008151240534764325,
          2.5562340681407387
        ],
        "joint_status_l": {
          "velocity": [
            -2.1429438150564195,
            -2.943500643785013,
            1.3817548936905233,
            4.585589934361423,
            1.4317884836500538,
            -3.714266184782211,
            -0.5388018097063352
          ],
          "torque": [
            -28.82080078125,
            6.8701171875,
            -10.82763671875,
            0.6591796875,
            -1.175537109375,
            -2.567138671875,
            -0.538330078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1872898334172035,
            -1.9419167209946409,
            -0.12604902573332133,
            1.7658288754160978,
            0.3486885203982659,
            1.5152209118056703,
            0.18044188182209098
          ],
          "torque": [
            28.1396484375,
            1.435546875,
            8.270263671875,
            -1.458740234375,
            4.4696044921875,
            4.2352294921875,
            0.18035888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.3,
            -2.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.3,
            -2.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "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": [
          0.43716483948359247,
          -0.28619490429747113,
          -0.1379714614095724,
          -1.3426635736213095,
          -0.011607801794934917,
          -0.6178429971585652,
          0.2361707147419942
        ],
        "act_joint_pos_r": [
          -0.5625499286102453,
          -1.014153236957724,
          0.13260179253154863,
          -0.789450024368582,
          0.3183675971239816,
          0.9066310316820841,
          -0.6903740308915863
        ],
        "act_eef_pose_l": [
          459.3006875079824,
          401.0398907697836,
          69.714831447888,
          1.7770762432137879,
          -0.003752151714905243,
          0.8788037675616336
        ],
        "act_eef_pose_r": [
          547.6350644042035,
          -177.5947481268787,
          -10.811056653080186,
          1.4720754491481869,
          0.0009159038094078188,
          2.565607210737767
        ],
        "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": [
          0.4529816957475801,
          -0.26289929159400865,
          -0.14868576502430855,
          -1.3794717890118775,
          -0.02171947305289013,
          -0.5861408607312193,
          0.23986481071263385
        ],
        "joint_pos_r": [
          -0.5623626561375862,
          -0.9960916925893357,
          0.13383481350704832,
          -0.8114226057646565,
          0.3154006863893851,
          0.8909618820180599,
          -0.6935812472470779
        ],
        "eef_pose_l": [
          453.8596005700179,
          403.0342643253166,
          70.234977015807,
          1.779751600230208,
          -0.00039195816702333855,
          0.8984406276112423
        ],
        "eef_pose_r": [
          546.4095404541318,
          -182.4022913218742,
          -10.068187274250505,
          1.480716640200537,
          0.006881233748551932,
          2.5580038450343445
        ],
        "joint_status_l": {
          "velocity": [
            -1.7081700967271907,
            -2.515851970886107,
            1.157110663236871,
            3.975170020808605,
            1.0920282882064258,
            -3.423729756642402,
            -0.3989505984103303
          ],
          "torque": [
            -27.72216796875,
            7.3974609375,
            -9.92431640625,
            0.714111328125,
            -1.0565185546875,
            -2.5341796875,
            -0.5474853515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0202248305471997,
            -1.9505892622309062,
            -0.13316233794080645,
            2.3729688038027774,
            0.32041690914486054,
            1.6922182544050202,
            0.3463691507814559
          ],
          "torque": [
            30.4541015625,
            -0.322265625,
            7.80029296875,
            -3.228759765625,
            4.47509765625,
            4.566650390625,
            0.4266357421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.5,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.5,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.6,
            -2.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.6,
            -2.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -295,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44018404239087944,
          -0.2854051064289358,
          -0.13858653376932806,
          -1.3465882740665258,
          -0.01438805101889143,
          -0.6172122711166257,
          0.2387903224909169
        ],
        "act_joint_pos_r": [
          -0.5586953715064285,
          -1.0175112404016,
          0.13222602607961648,
          -0.7728991418093427,
          0.3151140831999113,
          0.909681183395125,
          -0.6882456168402435
        ],
        "act_eef_pose_l": [
          458.4630875079823,
          400.01509076978357,
          69.13803144788773,
          1.7767704263774502,
          -0.0020769525995553715,
          0.8767472310639486
        ],
        "act_eef_pose_r": [
          550.6974644042035,
          -180.3227481268787,
          -11.028656653080134,
          1.4763638831267163,
          0.006086831926386592,
          2.558106996409276
        ],
        "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": [
          0.4505656277213116,
          -0.26691862008265166,
          -0.14686889854487098,
          -1.373458384572135,
          -0.020282016345721278,
          -0.5916665797924218,
          0.23954179095427325
        ],
        "joint_pos_r": [
          -0.5619608083789228,
          -0.9996640520661095,
          0.13357440248524774,
          -0.8056700203343177,
          0.31555812545314715,
          0.8940765071398057,
          -0.6927740081816683
        ],
        "eef_pose_l": [
          454.72400821197556,
          402.561684017864,
          70.06343701174029,
          1.7791944951251606,
          -0.000753951734246566,
          0.8947238033028291
        ],
        "eef_pose_r": [
          546.9824825245078,
          -181.86457327834898,
          -10.230106675535325,
          1.4796680248212772,
          0.006400255930418745,
          2.558494601313203
        ],
        "joint_status_l": {
          "velocity": [
            -1.1211781483049243,
            -1.9964816423199139,
            0.8944690148051659,
            2.9018863480434476,
            0.6365294818640732,
            -2.758853294985819,
            -0.08115620046855732
          ],
          "torque": [
            -27.333984375,
            6.416015625,
            -10.772705078125,
            0.3662109375,
            -1.0198974609375,
            -2.611083984375,
            -0.5218505859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.35265678117379906,
            -1.9274394934427619,
            -0.14562035696530362,
            3.5391504990336387,
            -0.04795514898825459,
            1.6852553316244467,
            0.48905184106118327
          ],
          "torque": [
            35.89599609375,
            0.69580078125,
            7.50732421875,
            -3.472900390625,
            3.2958984375,
            4.5648193359375,
            0.48431396484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.3,
            -5.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.3,
            -5.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.1,
            -2.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.1,
            -2.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -337,
          "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": [
          0.4406021739141487,
          -0.28556541029697086,
          -0.13867966011252675,
          -1.3473495469770165,
          -0.013763834696771822,
          -0.6171084721645352,
          0.23711827517741818
        ],
        "act_joint_pos_r": [
          -0.5560050011698028,
          -1.0201313663763314,
          0.1319304025563542,
          -0.7595716139543124,
          0.3129710612593275,
          0.9088646699461657,
          -0.6876257506075348
        ],
        "act_eef_pose_l": [
          458.3278875079824,
          399.6558907697836,
          68.94043144788776,
          1.7771697341553965,
          -0.0005030671825062185,
          0.8761416699327805
        ],
        "act_eef_pose_r": [
          553.5326644042035,
          -182.87474812687873,
          -11.761456653080131,
          1.4818085874813862,
          0.010473973094882056,
          2.549171619566229
        ],
        "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": [
          0.44890053304619165,
          -0.2699736568795897,
          -0.14551657923272057,
          -1.369116783883167,
          -0.019250988130503115,
          -0.5958558479252576,
          0.23925194251835233
        ],
        "joint_pos_r": [
          -0.5610798627028369,
          -1.0031152474173004,
          0.1333026392079484,
          -0.7983719376358374,
          0.31523779040351546,
          0.8967434074071693,
          -0.6919034030666088
        ],
        "eef_pose_l": [
          455.33045551364734,
          402.11273863454306,
          69.8876506544375,
          1.7788101925959574,
          -0.0008018765707960959,
          0.891717479372731
        ],
        "eef_pose_r": [
          547.973516634536,
          -181.8830553892519,
          -10.46338439756849,
          1.4796927932933417,
          0.006834599946358359,
          2.5574108787577474
        ],
        "joint_status_l": {
          "velocity": [
            -0.896196354362111,
            -1.6838597062895921,
            0.7383654880550594,
            2.3507922529528713,
            0.5925950931849611,
            -2.2952157240725413,
            -0.23042927667282775
          ],
          "torque": [
            -27.6416015625,
            7.14111328125,
            -11.041259765625,
            0.396728515625,
            -1.0821533203125,
            -2.7978515625,
            -0.552978515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.548068881140118,
            -1.837686647904846,
            -0.14819718752978606,
            4.190311370977362,
            -0.24479952759648427,
            1.3090577456171815,
            0.4619728404202661
          ],
          "torque": [
            39.111328125,
            0.88623046875,
            7.71484375,
            -2.313232421875,
            2.2210693359375,
            4.3927001953125,
            0.5511474609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.8,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.8,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.3,
            -2.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.3,
            -2.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "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": [
          0.43975137283555643,
          -0.2859560440588748,
          -0.13880813913108583,
          -1.3515457772491477,
          -0.011474746520718511,
          -0.6132265638517409,
          0.23481385219050735
        ],
        "act_joint_pos_r": [
          -0.5549630281633009,
          -1.020822424697481,
          0.131862540778002,
          -0.7564939233651209,
          0.3158934085232508,
          0.9054431379154371,
          -0.6907501436686717
        ],
        "act_eef_pose_l": [
          458.36468750798235,
          398.43589076978367,
          69.15723144788768,
          1.7775465889543793,
          -0.0003891004307447156,
          0.8752889855171488
        ],
        "act_eef_pose_r": [
          554.9838644042035,
          -183.8971481268787,
          -11.676656653080045,
          1.4827114867345312,
          0.012601431842049976,
          2.542885689851195
        ],
        "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": [
          0.44722461606241026,
          -0.27297030474032796,
          -0.14424033915892462,
          -1.3655307851415017,
          -0.01792523785152299,
          -0.599384177184421,
          0.23855819293584224
        ],
        "joint_pos_r": [
          -0.5603651918650022,
          -1.0053094744524673,
          0.1331248146365918,
          -0.7932603473661247,
          0.31516283965316566,
          0.8980242512781456,
          -0.691589600163338
        ],
        "eef_pose_l": [
          455.9056720249188,
          401.49866061142785,
          69.732957351729,
          1.7785251566486333,
          -0.0007208270463058198,
          0.8886728086110042
        ],
        "eef_pose_r": [
          548.7889639213121,
          -182.0820518973297,
          -10.628748061177674,
          1.4800259502258533,
          0.007441733016614307,
          2.5559162538287934
        ],
        "joint_status_l": {
          "velocity": [
            -0.8070864647575782,
            -1.4024184842809095,
            0.5866603003861215,
            1.5103363073869502,
            0.6966325176490651,
            -1.4949336693588222,
            -0.4043768740378262
          ],
          "torque": [
            -28.07373046875,
            7.1337890625,
            -10.8642578125,
            -0.164794921875,
            -1.0601806640625,
            -2.6239013671875,
            -0.556640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5834164728346636,
            -1.6753492146772686,
            -0.13632155613829688,
            3.9706566838502155,
            0.07889911096414792,
            0.8012161262209716,
            0.09065862759083387
          ],
          "torque": [
            40.2685546875,
            0.0146484375,
            7.60498046875,
            -2.30712890625,
            3.746337890625,
            4.4915771484375,
            0.55389404296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.8,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.8,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.5,
            -4.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.5,
            -4.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -293,
          "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": [
          0.4359785393595195,
          -0.2875611718385737,
          -0.1384393330494484,
          -1.3543178103444555,
          -0.010799491910654374,
          -0.6113174932714737,
          0.23104001212854974
        ],
        "act_joint_pos_r": [
          -0.5545134896290627,
          -1.0233927664273275,
          0.13164402564917876,
          -0.7489711312627663,
          0.3215956961041644,
          0.9043580022195226,
          -0.694804953861704
        ],
        "act_eef_pose_l": [
          458.9718875079824,
          396.87989076978363,
          70.61883144788777,
          1.7747476741944246,
          0.0012327836756461442,
          0.8735362902906686
        ],
        "act_eef_pose_r": [
          556.8862644042035,
          -185.20674812687872,
          -11.883856653080102,
          1.4820849316293894,
          0.01368450251505772,
          2.5348551795484053
        ],
        "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": [
          0.445570312547427,
          -0.275286226873351,
          -0.14330569368890617,
          -1.3635445191064581,
          -0.016788609523137765,
          -0.6014443760818198,
          0.2375167900123997
        ],
        "joint_pos_r": [
          -0.5592341892416732,
          -1.0086845415254793,
          0.13284925679249576,
          -0.7851189483440197,
          0.31587692462167827,
          0.8994081381178792,
          -0.6918241113347153
        ],
        "eef_pose_l": [
          456.3813932356121,
          400.8222013459458,
          69.79989326177548,
          1.778031407351375,
          -0.00047093543768045765,
          0.8862806413838674
        ],
        "eef_pose_r": [
          550.2401022285806,
          -182.5749805431215,
          -10.873074030138554,
          1.480513450347052,
          0.008573272523163127,
          2.5524955381843006
        ],
        "joint_status_l": {
          "velocity": [
            -1.0358809526187507,
            -1.3256549581408539,
            0.5255514487501056,
            0.9964551574235259,
            0.6468056256360016,
            -1.0662652086708135,
            -0.699471381650163
          ],
          "torque": [
            -28.49853515625,
            5.61767578125,
            -10.85205078125,
            0.457763671875,
            -1.058349609375,
            -2.2943115234375,
            -0.6536865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5098205218097007,
            -1.5884414408233738,
            -0.13016112458119622,
            3.9038491069005588,
            0.6176091047014332,
            0.5345695566907338,
            -0.3219214983474217
          ],
          "torque": [
            39.697265625,
            1.01806640625,
            7.708740234375,
            -2.313232421875,
            4.383544921875,
            4.3304443359375,
            -0.33233642578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.5,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.5,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.3,
            -2.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.3,
            -2.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -333,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -106,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.43311529136085264,
          -0.2908769614149701,
          -0.13693973348118618,
          -1.3452495421948634,
          -0.0074939081571771225,
          -0.6206068437450899,
          0.228299267046165
        ],
        "act_joint_pos_r": [
          -0.5563489548202325,
          -1.02588414785974,
          0.13152127252286921,
          -0.7483162492045862,
          0.327673360111286,
          0.9008569331782155,
          -0.7003941018298416
        ],
        "act_eef_pose_l": [
          459.70228750798236,
          397.31269076978367,
          70.6332314478878,
          1.7747489553955822,
          0.001211735607459903,
          0.8697241339333723
        ],
        "act_eef_pose_r": [
          557.4126644042035,
          -184.6059481268787,
          -12.67985665308015,
          1.4809712891378333,
          0.012844289462480337,
          2.5305700047881508
        ],
        "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": [
          0.4436703727803152,
          -0.2776783336364855,
          -0.14233646764582358,
          -1.3610044022358587,
          -0.015431015115551153,
          -0.6041157070369065,
          0.23614276452085786
        ],
        "joint_pos_r": [
          -0.5585489210500428,
          -1.0117460759139065,
          0.13260757160822434,
          -0.7782117718481124,
          0.3176438052442797,
          0.8999487754541656,
          -0.6930182963358159
        ],
        "eef_pose_l": [
          456.89320353090613,
          400.2255758257653,
          69.9332100709687,
          1.7774662728660189,
          -0.00018172830598929443,
          0.8837617296989785
        ],
        "eef_pose_r": [
          551.5698805665371,
          -183.0015444100795,
          -11.162780649531356,
          1.4806900089069392,
          0.009428792722479564,
          2.54867785262512
        ],
        "joint_status_l": {
          "velocity": [
            -1.1399151733009205,
            -1.4254097598624949,
            0.5828301001260527,
            1.7014747021146803,
            0.8571822702647253,
            -1.7809902369840813,
            -0.8470727441918235
          ],
          "torque": [
            -28.68896484375,
            6.18896484375,
            -10.919189453125,
            -0.274658203125,
            -1.1114501953125,
            -2.618408203125,
            -0.53375244140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23758934549622523,
            -1.5268667376222567,
            -0.11731684114313357,
            3.228621222407746,
            1.083159979540671,
            0.09807814153717231,
            -0.7965634999704818
          ],
          "torque": [
            41.4990234375,
            -1.2890625,
            7.421875,
            -2.1240234375,
            4.6051025390625,
            4.27734375,
            -0.47149658203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.7,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.7,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.1,
            -2.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.1,
            -2.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -337,
          "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": [
          0.42879026995923497,
          -0.2941893970105991,
          -0.13581673008876616,
          -1.3436353418397737,
          0.00021246161249282452,
          -0.6221432658101685,
          0.22045183492922638
        ],
        "act_joint_pos_r": [
          -0.5574357189441583,
          -1.027422218037509,
          0.13146343178371717,
          -0.7492014288943956,
          0.33044839866895215,
          0.8971711035125263,
          -0.7012476467030878
        ],
        "act_eef_pose_l": [
          460.4822875079824,
          396.05189076978365,
          71.04683144788766,
          1.7759482307135237,
          0.0016781656000676535,
          0.8659943738275747
        ],
        "act_eef_pose_r": [
          557.6518644042035,
          -183.8827481268787,
          -13.286256653080272,
          1.481254746170194,
          0.010084588307849347,
          2.5285516772052397
        ],
        "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": [
          0.4413160980230835,
          -0.28038574657304943,
          -0.14125555680185856,
          -1.3580366596042714,
          -0.013158059355847835,
          -0.6072048528512806,
          0.23387044183131356
        ],
        "joint_pos_r": [
          -0.5583230721999558,
          -1.0140451502296355,
          0.13243692360377854,
          -0.7737618229807183,
          0.3194422621655452,
          0.8997200175391706,
          -0.6942228053825054
        ],
        "eef_pose_l": [
          457.4820524728218,
          399.5706225011134,
          70.10148363511385,
          1.7770802710163973,
          0.00012754108910900718,
          0.8808631416564846
        ],
        "eef_pose_r": [
          552.4893527784103,
          -183.1712381908722,
          -11.456481559653497,
          1.4807570204358496,
          0.009663143936250314,
          2.545728518435037
        ],
        "joint_status_l": {
          "velocity": [
            -1.3527495336811413,
            -1.4907502799261785,
            0.5873759612859963,
            1.5552964475507025,
            1.4439736768536853,
            -1.6133010177901141,
            -1.449166804535329
          ],
          "torque": [
            -29.4873046875,
            6.4453125,
            -10.63232421875,
            0.4150390625,
            -1.2542724609375,
            -2.4737548828125,
            -0.5255126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.09583132523260929,
            -1.4446807146697438,
            -0.10513401580469761,
            2.6524443316588986,
            1.1886276856678535,
            -0.2752745960874492,
            -0.7586604871274716
          ],
          "torque": [
            41.37451171875,
            0.46875,
            7.45849609375,
            -2.996826171875,
            4.5831298828125,
            2.867431640625,
            -0.66650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.6,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.6,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.5,
            -2.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.5,
            -2.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -353,
          "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": [
          0.42807251341323566,
          -0.29409834721115324,
          -0.13594672558455148,
          -1.3448620160142764,
          0.0032013897441593073,
          -0.6212219223024117,
          0.21637814422308807
        ],
        "act_joint_pos_r": [
          -0.5575106189962149,
          -1.0282648591358285,
          0.13134284947513647,
          -0.7427011610763873,
          0.3330351624467238,
          0.8989583739674681,
          -0.7011419827757955
        ],
        "act_eef_pose_l": [
          460.43508750798236,
          395.7526907697836,
          71.12683144788781,
          1.77693918137254,
          0.002876655698060293,
          0.8657664899889392
        ],
        "act_eef_pose_r": [
          558.6854644042035,
          -185.47794812687872,
          -13.676656653080045,
          1.4812464355512698,
          0.009214077169086397,
          2.5238600685010795
        ],
        "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": [
          0.439175916630791,
          -0.282644728012682,
          -0.14037610811395992,
          -1.3558075715041265,
          -0.010622728975477563,
          -0.6095566912710202,
          0.23120479867616234
        ],
        "joint_pos_r": [
          -0.5581736306332337,
          -1.0164941417466216,
          0.13225280832208125,
          -0.7687727883705081,
          0.3216455326115675,
          0.8994471193288671,
          -0.6954543465017609
        ],
        "eef_pose_l": [
          457.97311458874736,
          398.95938539596796,
          70.26490476228005,
          1.7769688987291727,
          0.0005246579432275345,
          0.8783931752006126
        ],
        "eef_pose_r": [
          553.514702374789,
          -183.45264288078317,
          -11.821680260361376,
          1.4808393310784405,
          0.009639078219768569,
          2.5422257219854236
        ],
        "joint_status_l": {
          "velocity": [
            -1.19913218098322,
            -1.2369543914152459,
            0.4783592047254981,
            1.1820851291677315,
            1.4929607891960295,
            -1.2598077953454023,
            -1.6012314551347995
          ],
          "torque": [
            -30.9814453125,
            6.48193359375,
            -10.04638671875,
            0.62255859375,
            -1.0418701171875,
            -2.46826171875,
            -0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0716031449763399,
            -1.2711999859940093,
            -0.09827265707307298,
            2.8156527045277713,
            1.2300437439956013,
            -0.05278294228183711,
            -0.6142466013603354
          ],
          "torque": [
            41.455078125,
            0.1611328125,
            7.48291015625,
            -2.569580078125,
            4.4146728515625,
            3.3837890625,
            -0.70404052734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.2,
            -2.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.2,
            -2.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -370,
          "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": [
          0.42709349052381307,
          -0.2948441772522592,
          -0.13564048570835752,
          -1.3427269161107167,
          0.006122914921579823,
          -0.6246383939214055,
          0.2121796504233739
        ],
        "act_joint_pos_r": [
          -0.557601982269992,
          -1.0296082882235267,
          0.13125151837033477,
          -0.7403099938149602,
          0.33534655816499415,
          0.8979856286659247,
          -0.7040791919837857
        ],
        "act_eef_pose_l": [
          460.42628750798235,
          395.67109076978363,
          71.09803144788776,
          1.7776647325393427,
          0.004730173482470804,
          0.863842278737436
        ],
        "act_eef_pose_r": [
          559.3294644042035,
          -185.6683481268787,
          -13.892656653080167,
          1.4810962198626023,
          0.010477227634481785,
          2.520913302657826
        ],
        "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": [
          0.43710226588884915,
          -0.28475398574492844,
          -0.13955839907276626,
          -1.35363137457322,
          -0.00784883541727895,
          -0.6120047264900573,
          0.22810955162736388
        ],
        "joint_pos_r": [
          -0.5580667142916398,
          -1.0187268998684569,
          0.13208161388820847,
          -0.763893279416327,
          0.3239201393375196,
          0.8992509377139033,
          -0.6967914113905807
        ],
        "eef_pose_l": [
          458.41041221304937,
          398.38323655805476,
          70.4144458242188,
          1.7770082021372988,
          0.001152772214906937,
          0.8759414589543033
        ],
        "eef_pose_r": [
          554.5110340395628,
          -183.8285384600066,
          -12.176575071434286,
          1.4808898119858636,
          0.009694236056113519,
          2.5386474188199735
        ],
        "joint_status_l": {
          "velocity": [
            -1.0809158595148638,
            -1.089708543555723,
            0.4231221640350613,
            1.1776467811159819,
            1.5089045338363833,
            -1.36439584188075,
            -1.7203785901767077
          ],
          "torque": [
            -30.25634765625,
            6.1669921875,
            -10.2294921875,
            0.23193359375,
            -1.1041259765625,
            -2.5067138671875,
            -0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.05018957807578772,
            -1.175155282994389,
            -0.08964767191366185,
            2.54691972756671,
            1.2340168379858518,
            -0.13664934692503294,
            -0.7870570910579744
          ],
          "torque": [
            39.43359375,
            0.46875,
            7.379150390625,
            -1.971435546875,
            4.376220703125,
            2.6715087890625,
            -0.706787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.4,
            -2.7,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.4,
            -2.7,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -356,
          "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": [
          0.42692277767387277,
          -0.2949739900136106,
          -0.13564492626236252,
          -1.343192217903971,
          0.006294124014336767,
          -0.6239518444380465,
          0.21164921330528622
        ],
        "act_joint_pos_r": [
          -0.5566793706147535,
          -1.0320956836194608,
          0.13114055687759898,
          -0.7405795877147413,
          0.3354466899596269,
          0.8959260638357319,
          -0.7044899720236935
        ],
        "act_eef_pose_l": [
          460.48788750798235,
          395.53509076978366,
          71.14683144788779,
          1.7776392821491798,
          0.004999841533976813,
          0.8639955480110957
        ],
        "act_eef_pose_r": [
          559.6806644042035,
          -184.25794812687872,
          -13.575056653080082,
          1.4807243995597865,
          0.010618765331138792,
          2.5216487322227423
        ],
        "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": [
          0.43543760617664273,
          -0.28642741460975824,
          -0.13891481347221976,
          -1.3518912384249804,
          -0.0055326251040001325,
          -0.614004170314285,
          0.22543089413946257
        ],
        "joint_pos_r": [
          -0.5578985467592342,
          -1.0207631586542107,
          0.13193411324899362,
          -0.7600431124603814,
          0.3258085489328073,
          0.8988380717738674,
          -0.6980303468521772
        ],
        "eef_pose_l": [
          458.750897508592,
          397.92185075088025,
          70.5328371036224,
          1.7770860543323226,
          0.0017730154791723777,
          0.8739675793678486
        ],
        "eef_pose_r": [
          555.3446342647974,
          -183.98890506334206,
          -12.428809708475086,
          1.4808820275603642,
          0.009830740613764785,
          2.535805325990865
        ],
        "joint_status_l": {
          "velocity": [
            -0.9195743569034853,
            -0.9230029211000357,
            0.3531374034335677,
            0.9394665081856601,
            1.2772512342688682,
            -1.074317120075996,
            -1.4883776327394571
          ],
          "torque": [
            -30.3662109375,
            5.29541015625,
            -10.137939453125,
            0.494384765625,
            -1.021728515625,
            -2.4114990234375,
            -0.57220458984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.13166714028978177,
            -1.2238765999352808,
            -0.08570156047826849,
            2.1019986773929134,
            1.0408885315302818,
            -0.3144875820035864,
            -0.6976189433522961
          ],
          "torque": [
            41.90185546875,
            0.05126953125,
            7.53173828125,
            -2.166748046875,
            4.522705078125,
            2.5213623046875,
            -0.82672119140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.3,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.3,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.6,
            -3.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.6,
            -3.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -358,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.42526558779205087,
          -0.29676777871219157,
          -0.1347554352726401,
          -1.3358394418862607,
          0.007989652347221281,
          -0.6307612637567052,
          0.20959824235163657
        ],
        "act_joint_pos_r": [
          -0.55600832216154,
          -1.0379222487545778,
          0.13081500270721824,
          -0.7361176985937408,
          0.3339061693666125,
          0.9002712027541733,
          -0.7026103053281518
        ],
        "act_eef_pose_l": [
          460.9926875079824,
          396.43909076978366,
          71.11163144788776,
          1.7778281704669776,
          0.005490130267383037,
          0.8627035196905265
        ],
        "act_eef_pose_r": [
          559.6630644042035,
          -181.71554812687873,
          -13.395056653080246,
          1.4782552532330426,
          0.00964246993708983,
          2.5269844125864886
        ],
        "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": [
          0.43387297535355807,
          -0.2880108513043364,
          -0.13828878586294438,
          -1.3497298146629426,
          -0.0034197166356582653,
          -0.6163168218210144,
          0.22296124984185686
        ],
        "joint_pos_r": [
          -0.5577059096071192,
          -1.0225298833528786,
          0.1318151900298944,
          -0.7573310062414249,
          0.3269336446894841,
          0.8987235906239501,
          -0.6987351728772035
        ],
        "eef_pose_l": [
          459.0889341259728,
          397.6194394983807,
          70.63122411903467,
          1.7771682939999933,
          0.0023505484631634634,
          0.872198211429297
        ],
        "eef_pose_r": [
          555.8942060369856,
          -183.87564200180375,
          -12.564600946531016,
          1.4807160013783651,
          0.009870272960728762,
          2.534331224779118
        ],
        "joint_status_l": {
          "velocity": [
            -0.9295704404284066,
            -0.9457202675200449,
            0.3815906093395105,
            1.5001160163254923,
            1.2321755090769284,
            -1.5599537206787417,
            -1.4431622451487325
          ],
          "torque": [
            -30.27099609375,
            6.03515625,
            -10.382080078125,
            -0.262451171875,
            -0.95947265625,
            -2.362060546875,
            -0.61248779296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.18333403697434747,
            -1.6623264356852019,
            -0.1080170450566964,
            2.2909696574124894,
            0.7530104562731843,
            0.16713718061556193,
            -0.4185019616462782
          ],
          "torque": [
            42.2607421875,
            -1.7431640625,
            7.23876953125,
            -1.953125,
            4.097900390625,
            3.533935546875,
            -0.8697509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.1,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.1,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.3,
            -3.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.3,
            -3.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -335,
          "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": [
          0.4251439869234079,
          -0.29646544829620086,
          -0.13491892581624013,
          -1.336970523304692,
          0.008407146072261236,
          -0.6290917233788496,
          0.20927586953592434
        ],
        "act_joint_pos_r": [
          -0.5555158479909199,
          -1.0452820385859747,
          0.1303779971234584,
          -0.7278815029289001,
          0.3301506642564562,
          0.9076911966043439,
          -0.6986119826675281
        ],
        "act_eef_pose_l": [
          461.0230875079824,
          396.40789076978365,
          71.19883144788793,
          1.778017141575353,
          0.0051298986743501035,
          0.8634606599527239
        ],
        "act_eef_pose_r": [
          559.5934644042035,
          -179.0523481268787,
          -13.691856653080094,
          1.4764060504992875,
          0.008308879706073352,
          2.5339169013449507
        ],
        "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": [
          0.4323373950851698,
          -0.2895250338716883,
          -0.13768250850827815,
          -1.3474015144005238,
          -0.001355333110440877,
          -0.6186823249395745,
          0.22056218031629662
        ],
        "joint_pos_r": [
          -0.5572954206779344,
          -1.0265397635524747,
          0.13155873114625058,
          -0.7519943720273011,
          0.32804491669011454,
          0.8997911891381472,
          -0.6991626966659967
        ],
        "eef_pose_l": [
          459.43084823737036,
          397.40729360687,
          70.72695080605433,
          1.7772819841899512,
          0.0028623098512650966,
          0.8706032425542195
        ],
        "eef_pose_r": [
          556.6982473837438,
          -183.1555822160615,
          -12.776180383603332,
          1.4800050208910436,
          0.009682562363577814,
          2.5334546069113064
        ],
        "joint_status_l": {
          "velocity": [
            -0.7768651690569506,
            -0.7495426512686976,
            0.29845812818818374,
            1.126513813600738,
            1.0543166563242254,
            -1.1241818754692545,
            -1.218885615170695
          ],
          "torque": [
            -30.52001953125,
            6.6650390625,
            -10.662841796875,
            -0.146484375,
            -1.102294921875,
            -2.7301025390625,
            -0.582275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.19218818191069076,
            -2.02410600580194,
            -0.12751551359257984,
            2.6041130584184558,
            0.2274140299465266,
            0.8531756432779147,
            0.059475357702787335
          ],
          "torque": [
            42.61962890625,
            -0.146484375,
            7.012939453125,
            -1.98974609375,
            4.24072265625,
            4.1546630859375,
            0.0604248046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.3,
            -6.6,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.3,
            -6.6,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.1,
            -1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.1,
            -1.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.4259875454821251,
          -0.2961120268503998,
          -0.13498953018068682,
          -1.3357315953575575,
          0.00926454901374159,
          -0.6329172957357331,
          0.20854619709522523
        ],
        "act_joint_pos_r": [
          -0.5553770619406184,
          -1.0491326987794871,
          0.13016826763702696,
          -0.724508538659197,
          0.32420906333558674,
          0.913968244300594,
          -0.6928486528336929
        ],
        "act_eef_pose_l": [
          460.51748750798237,
          396.4582907697836,
          70.85723144788795,
          1.7786423712771828,
          0.006123714206290948,
          0.8612229476354583
        ],
        "act_eef_pose_r": [
          558.7238644042035,
          -176.9059481268787,
          -13.964656653080283,
          1.4759945977004931,
          0.006483169515855413,
          2.5423193372012802
        ],
        "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": [
          0.43116072957669316,
          -0.29071227641613767,
          -0.13720185105074992,
          -1.3454174233541556,
          0.0004675070507129247,
          -0.6209544824808435,
          0.21848432738817666
        ],
        "joint_pos_r": [
          -0.5570630910454446,
          -1.0291254582628746,
          0.1313977456823836,
          -0.7487596246409695,
          0.32796502145982936,
          0.9011515195340436,
          -0.6987583888836902
        ],
        "eef_pose_l": [
          459.6570577515056,
          397.2359212153638,
          70.77328794389757,
          1.7774631092589772,
          0.0033714194567292847,
          0.8690862703594936
        ],
        "eef_pose_r": [
          557.0190091922774,
          -182.51763933586867,
          -12.910821809696415,
          1.479523566040097,
          0.009399834861924736,
          2.5339971734915627
        ],
        "joint_status_l": {
          "velocity": [
            -0.5586874046095147,
            -0.5831558476376841,
            0.23892360729182993,
            1.046038572374286,
            0.9500525117060606,
            -1.2919457276252544,
            -1.0732864167481981
          ],
          "torque": [
            -30.69580078125,
            5.537109375,
            -10.5712890625,
            0.59814453125,
            -1.0711669921875,
            -2.5982666015625,
            -0.68023681640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.182085772988394,
            -2.16071824881503,
            -0.13277971277025902,
            2.6190400415746495,
            -0.4056315139560063,
            1.3841654510100554,
            0.6382326697327301
          ],
          "torque": [
            43.38134765625,
            0.49072265625,
            7.135009765625,
            -2.197265625,
            2.783203125,
            4.5904541015625,
            -0.48065185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.1,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.1,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.5,
            -2.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.5,
            -2.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -303,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4282274191387533,
          -0.29507366396461865,
          -0.13542000148919617,
          -1.3376988256679372,
          0.004320719418074573,
          -0.630442643784086,
          0.21271292555921487
        ],
        "act_joint_pos_r": [
          -0.5543912398339534,
          -1.0532723479358848,
          0.12989150898672241,
          -0.7165618166527344,
          0.3199131499444356,
          0.9207703785135958,
          -0.6871444617186332
        ],
        "act_eef_pose_l": [
          460.2902875079824,
          396.60709076978367,
          70.64283144788766,
          1.7774851447581552,
          0.006662377722276619,
          0.8632766096021179
        ],
        "act_eef_pose_r": [
          558.8830644042034,
          -176.1019481268787,
          -14.131056653080122,
          1.475805800413194,
          0.00504521457976697,
          2.546683109270322
        ],
        "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": [
          0.4306702948437235,
          -0.29131789445563805,
          -0.13695408831097297,
          -1.3443386394280483,
          0.0012196666219648597,
          -0.6222836300103959,
          0.21753233555635604
        ],
        "joint_pos_r": [
          -0.556592804583163,
          -1.0338531727219,
          0.1311046954693219,
          -0.7426985733429684,
          0.3266804191292568,
          0.9046484405794764,
          -0.696856220892057
        ],
        "eef_pose_l": [
          459.74992983709933,
          397.1485156098157,
          70.76896556236085,
          1.777521314926137,
          0.003755525269249726,
          0.8682431761589936
        ],
        "eef_pose_r": [
          557.4130409777125,
          -181.23854371352505,
          -13.158349110830983,
          1.4787338390945486,
          0.008615660536102673,
          2.5362481895115523
        ],
        "joint_status_l": {
          "velocity": [
            -0.2638227950995109,
            -0.4056111441084198,
            0.16567649038512489,
            0.7170787369847886,
            0.3349038245195335,
            -0.8811474995020774,
            -0.5204809289267587
          ],
          "torque": [
            -31.376953125,
            5.8447265625,
            -10.711669921875,
            0.579833984375,
            -1.1663818359375,
            -2.5762939453125,
            -0.567626953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23776198049985098,
            -2.097209069234829,
            -0.1310202758842971,
            2.822686471859015,
            -0.7308435168833505,
            1.7411179453556969,
            1.0488390568754724
          ],
          "torque": [
            42.0556640625,
            -0.37353515625,
            7.244873046875,
            -2.825927734375,
            1.790771484375,
            4.5867919921875,
            0.46600341796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.5,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.5,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.4,
            -2.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.4,
            -2.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "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": [
          0.4282732327035912,
          -0.29498732051945087,
          -0.1354571454230822,
          -1.3378345784865897,
          0.004550170955895994,
          -0.6304148516083827,
          0.2122460281270169
        ],
        "act_joint_pos_r": [
          -0.5541238852252275,
          -1.0532194205392442,
          0.12991248486482876,
          -0.7175529996052626,
          0.31918420228308925,
          0.9206586456949701,
          -0.6865627705924187
        ],
        "act_eef_pose_l": [
          460.25188750798236,
          396.59989076978366,
          70.6228314478879,
          1.777618354580884,
          0.006951965022316202,
          0.8632864292837588
        ],
        "act_eef_pose_r": [
          558.7342644042035,
          -175.78194812687872,
          -13.94785665308018,
          1.4757350836290444,
          0.005002811203476663,
          2.5477881238793074
        ],
        "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": [
          0.4302423086192124,
          -0.29197453039860904,
          -0.1366860390024878,
          -1.3431763237818197,
          0.0017876654691321699,
          -0.6237238252834204,
          0.21664012346535633
        ],
        "joint_pos_r": [
          -0.5562998236952676,
          -1.0362973349185627,
          0.13095302652994475,
          -0.7394623718258007,
          0.3257852372575376,
          0.9066736621034999,
          -0.695598526382957
        ],
        "eef_pose_l": [
          459.8427597585927,
          397.0521744663136,
          70.74510115614794,
          1.7775228530229914,
          0.004293785041008448,
          0.8673662035497849
        ],
        "eef_pose_r": [
          557.5964690891102,
          -180.57581687292137,
          -13.272029730759641,
          1.4783495499091108,
          0.008164194403545605,
          2.537619257780442
        ],
        "joint_status_l": {
          "velocity": [
            -0.2126539269946548,
            -0.3253717367242004,
            0.13271659230917887,
            0.5768914773796041,
            0.2983417934496434,
            -0.7226095308663361,
            -0.4745483004868767
          ],
          "torque": [
            -31.45751953125,
            4.92919921875,
            -10.38818359375,
            0.628662109375,
            -1.31103515625,
            -2.625732421875,
            -0.6500244140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23499442397456605,
            -1.827531346877187,
            -0.11237518550366588,
            2.366142414177652,
            -0.7128907516515959,
            1.5103336829680458,
            0.9758328447269093
          ],
          "torque": [
            41.96044921875,
            0.439453125,
            7.11669921875,
            -1.953125,
            1.6790771484375,
            4.4586181640625,
            0.69580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.4,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.4,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.1,
            -2.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.1,
            -2.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "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": [
          0.4298249963382803,
          -0.2939142757699086,
          -0.1359185793763801,
          -1.340288029625267,
          -0.001429134153745582,
          -0.6270250619258589,
          0.21877939326152945
        ],
        "act_joint_pos_r": [
          -0.5538876125220917,
          -1.0511014144856874,
          0.1300022851991016,
          -0.7169376549963217,
          0.31816029883138697,
          0.9234840508626718,
          -0.6848609561731573
        ],
        "act_eef_pose_l": [
          460.2078875079824,
          396.7278907697836,
          70.84123144788788,
          1.7754446090409772,
          0.005419944772211752,
          0.8656090026762536
        ],
        "act_eef_pose_r": [
          558.5302644042035,
          -176.96194812687872,
          -13.6950566530802,
          1.4755813647565228,
          0.005102076362679637,
          2.548205249412946
        ],
        "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": [
          0.4300274339952982,
          -0.292415057650928,
          -0.1365083909375804,
          -1.3424425750629914,
          0.0017625619109399185,
          -0.6246157199920025,
          0.2164243341419368
        ],
        "joint_pos_r": [
          -0.5558129520208329,
          -1.0396902614283388,
          0.13074037296004676,
          -0.7347355186645379,
          0.324277689943563,
          0.9099328238391584,
          -0.6935050714996221
        ],
        "eef_pose_l": [
          459.9115185887664,
          396.98315004631434,
          70.74215882406108,
          1.7773522278574094,
          0.004632462981119532,
          0.8668442374936508
        ],
        "eef_pose_r": [
          557.8262293398044,
          -179.67547526643884,
          -13.39195317124529,
          1.4777613760909043,
          0.007503562431973947,
          2.5398153802063956
        ],
        "joint_status_l": {
          "velocity": [
            -0.021862622154422695,
            -0.16191078154648153,
            0.06369776994441523,
            0.23268404462584158,
            -0.34469300880916354,
            -0.26020125463066535,
            0.2543388835916094
          ],
          "torque": [
            -28.46923828125,
            4.9658203125,
            -10.43701171875,
            0.6591796875,
            -3.4405517578125,
            -2.5030517578125,
            0.18768310546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2079305332811643,
            -1.2323681834365274,
            -0.07971112722815477,
            1.9221125864872235,
            -0.6606587550264109,
            1.4634893552285533,
            0.9335369220586642
          ],
          "torque": [
            41.6162109375,
            0.76904296875,
            7.293701171875,
            -2.130126953125,
            1.8475341796875,
            4.5025634765625,
            0.66375732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.4,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.4,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.5,
            -2.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.5,
            -2.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -314,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4303810801122628,
          -0.29369911996368014,
          -0.13602367755142755,
          -1.3410348151134466,
          -0.0024199497789125337,
          -0.6263098814423148,
          0.21996003961530078
        ],
        "act_joint_pos_r": [
          -0.5549749970913909,
          -1.0453118568606066,
          0.13030054701276345,
          -0.7198855054564488,
          0.32337306204831195,
          0.9204631132995442,
          -0.6898733741335031
        ],
        "act_eef_pose_l": [
          460.12708750798237,
          396.6598907697836,
          70.76603144788766,
          1.775259328513426,
          0.005278640384757022,
          0.8658358808843979
        ],
        "act_eef_pose_r": [
          558.8486644042034,
          -180.1019481268787,
          -13.691056653080068,
          1.4758000008852148,
          0.0067967716308094004,
          2.540617067203092
        ],
        "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": [
          0.43003424880102903,
          -0.29264600900797016,
          -0.13641900642980329,
          -1.3421422223806316,
          0.001166422423912582,
          -0.6249602388061326,
          0.21689662154446052
        ],
        "joint_pos_r": [
          -0.5555716950106165,
          -1.0411940824428711,
          0.13063450371076668,
          -0.7317037062717795,
          0.32370949911490793,
          0.9121536170897118,
          -0.6924366285815112
        ],
        "eef_pose_l": [
          459.9543654381294,
          396.9361873116744,
          70.75281734764698,
          1.7770260639981785,
          0.004752460834138379,
          0.8666570720785706
        ],
        "eef_pose_r": [
          557.9983736728589,
          -179.51762693372726,
          -13.449165592075929,
          1.4773677325303574,
          0.007241297614592245,
          2.540540781467491
        ],
        "joint_status_l": {
          "velocity": [
            0.03745667688770382,
            -0.11373262885205904,
            0.04269425966474394,
            0.11959645754622272,
            -0.3873167746074671,
            -0.14575710583208945,
            0.3308393940644194
          ],
          "torque": [
            -28.6962890625,
            5.00244140625,
            -14.19677734375,
            0.35400390625,
            -3.782958984375,
            -2.508544921875,
            0.3021240234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.06444147467687955,
            -0.4447065211969914,
            -0.03606625966690036,
            1.2763280447725123,
            -0.036334131574555784,
            0.8973991232892331,
            0.2768233159180511
          ],
          "torque": [
            41.8798828125,
            0.99609375,
            10.699462890625,
            -2.3193359375,
            2.4078369140625,
            4.493408203125,
            0.6060791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.5,
            -6.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.5,
            -6.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.1,
            -2.8,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.1,
            -2.8,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -381,
          "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": [
          0.4304497056968145,
          -0.29516937053157155,
          -0.1355456511117859,
          -1.3410058686624342,
          -0.0037513913799158186,
          -0.626312528829343,
          0.22069592219077458
        ],
        "act_joint_pos_r": [
          -0.5535372544028201,
          -1.0460253322623858,
          0.13020136354736322,
          -0.7144041811779511,
          0.32610033784696313,
          0.917898386105371,
          -0.6926429160659748
        ],
        "act_eef_pose_l": [
          460.33668750798233,
          395.9638907697837,
          70.59083144788775,
          1.7745899891130705,
          0.006286237190212254,
          0.8647038004003662
        ],
        "act_eef_pose_r": [
          560.6590644042035,
          -181.7995481268787,
          -13.619856653080205,
          1.47715421127466,
          0.009505545049347211,
          2.533022401150476
        ],
        "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": [
          0.4300962142757248,
          -0.2929251431744495,
          -0.13631954966374046,
          -1.3419580827007715,
          0.00048084029196381766,
          -0.6251823046424474,
          0.21745329160890392
        ],
        "joint_pos_r": [
          -0.5553381138302533,
          -1.041890106342221,
          0.13057394542141354,
          -0.7293645604260179,
          0.3239296986617421,
          0.9131598566748751,
          -0.6923230122009512
        ],
        "eef_pose_l": [
          459.9978583781072,
          396.8404705320315,
          70.74219146778947,
          1.7766879945679215,
          0.004912174358126652,
          0.8664398324965826
        ],
        "eef_pose_r": [
          558.3097451693054,
          -179.77468927760722,
          -13.480220719577858,
          1.4772654817657185,
          0.0074411195089602875,
          2.5397966302740085
        ],
        "joint_status_l": {
          "velocity": [
            0.038175947538299226,
            -0.2423694062652082,
            0.08357857859275786,
            0.10283608315297954,
            -0.4570675400764924,
            -0.12206061219899311,
            0.35019377442857547
          ],
          "torque": [
            -28.212890625,
            5.06103515625,
            -10.07080078125,
            0.518798828125,
            -3.9715576171875,
            -2.4444580078125,
            0.3277587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.19448708207292498,
            -0.44659122787304995,
            -0.04023765565119852,
            1.6156733070546991,
            0.2344221180927697,
            0.5117460853494293,
            -0.03454859846563352
          ],
          "torque": [
            42.88330078125,
            -0.41748046875,
            9.161376953125,
            -2.252197265625,
            3.43505859375,
            4.3450927734375,
            0.10528564453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.2,
            -6.8,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.2,
            -6.8,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.1,
            -2.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.1,
            -2.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -341,
          "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": [
          0.42700780625890516,
          -0.2983799052902227,
          -0.13435378883876684,
          -1.337264052347299,
          0.0023454314650615976,
          -0.6312477701173382,
          0.2150182781133919
        ],
        "act_joint_pos_r": [
          -0.5517136947532011,
          -1.0488733126919774,
          0.13003950337253284,
          -0.7115341533988342,
          0.3280416794623049,
          0.9172473830972766,
          -0.6949880648005702
        ],
        "act_eef_pose_l": [
          460.88228750798237,
          395.0526907697837,
          70.78603144788786,
          1.7754075287975795,
          0.006686790531151017,
          0.8598757895186745
        ],
        "act_eef_pose_r": [
          561.6910644042035,
          -181.1771481268787,
          -12.803056653080148,
          1.4755233578016027,
          0.011667502872781262,
          2.5314009170256426
        ],
        "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": [
          0.4298631040426635,
          -0.2935976809723755,
          -0.13608035377906538,
          -1.3414683541469556,
          0.00025617701625023137,
          -0.6258060052154077,
          0.21753898662066337
        ],
        "joint_pos_r": [
          -0.5547678765068376,
          -1.0430307247541424,
          0.13048311573514265,
          -0.7261748082037502,
          0.3245846811559762,
          0.9139735739208453,
          -0.6926790255624989
        ],
        "eef_pose_l": [
          460.1049586787364,
          396.6072972336696,
          70.73188469147135,
          1.7763863784807865,
          0.005190668765612677,
          0.865718382819814
        ],
        "eef_pose_r": [
          558.8869014909809,
          -180.0783561372152,
          -13.406377430848636,
          1.4770423741559982,
          0.008101244453730021,
          2.5383126056613623
        ],
        "joint_status_l": {
          "velocity": [
            -0.3083630659639347,
            -0.5164649940065935,
            0.18646351410489537,
            0.45405120284058853,
            0.22563282578715038,
            -0.5876932763211329,
            -0.27222848983532444
          ],
          "torque": [
            -31.07666015625,
            4.1015625,
            -9.7900390625,
            -0.244140625,
            -2.0709228515625,
            -2.3583984375,
            -0.3076171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3298419012263132,
            -0.630980887499355,
            -0.047908722169642814,
            1.5811440855797443,
            0.37334480586714847,
            0.35356096333138964,
            -0.24936888296966941
          ],
          "torque": [
            42.22412109375,
            -2.1240234375,
            7.65380859375,
            -2.5390625,
            3.8653564453125,
            4.5281982421875,
            -0.38726806640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.2,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.2,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.5,
            -3.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.5,
            -3.3,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -362,
          "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": [
          0.4253669037436484,
          -0.3000686353050864,
          -0.13360439349688463,
          -1.332244596649193,
          0.0019158370339516263,
          -0.6358221252235288,
          0.21526957741801536
        ],
        "act_joint_pos_r": [
          -0.5519659696886183,
          -1.049072085594603,
          0.13004609632197353,
          -0.7127336434236765,
          0.3310167756794647,
          0.9167610398084752,
          -0.6987288307854992
        ],
        "act_eef_pose_l": [
          461.4206875079824,
          395.4614907697836,
          71.09083144788775,
          1.7742400327521568,
          0.006460788752563937,
          0.858738105864863
        ],
        "act_eef_pose_r": [
          561.7118644042034,
          -180.91714812687871,
          -12.47105665308004,
          1.4735177477406476,
          0.012933347899714882,
          2.53054906699865
        ],
        "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": [
          0.42921733306880605,
          -0.2945882564629658,
          -0.135710720120119,
          -1.3402938979814212,
          0.0005886786806068645,
          -0.6271610274142989,
          0.2171148872215378
        ],
        "joint_pos_r": [
          -0.554259663616762,
          -1.0440887931225116,
          0.13040551219479693,
          -0.7237373791425049,
          0.32557083425194117,
          0.9144911210899682,
          -0.6935587008628397
        ],
        "eef_pose_l": [
          460.28931934687233,
          396.36789535865324,
          70.76704511637422,
          1.776110386290136,
          0.005437858363530394,
          0.8645887950916407
        ],
        "eef_pose_r": [
          559.3872759885629,
          -180.2393469766823,
          -13.25970646401177,
          1.476523679359419,
          0.008889836018529168,
          2.5369856971479914
        ],
        "joint_status_l": {
          "velocity": [
            -0.41583410274581567,
            -0.5918634588693017,
            0.2274765662466649,
            0.8692989052807576,
            0.1433288749020335,
            -0.9353709761050766,
            -0.1992875811074324
          ],
          "torque": [
            -31.63330078125,
            4.2919921875,
            -9.85107421875,
            0.390625,
            -1.871337890625,
            -2.45361328125,
            -0.49530029296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.24771163837522536,
            -0.5381797142236522,
            -0.038815769455080584,
            1.188368408580942,
            0.588144327782647,
            0.24514399146280397,
            -0.5583575637713167
          ],
          "torque": [
            40.81787109375,
            -0.00732421875,
            7.06787109375,
            -2.55126953125,
            4.1473388671875,
            4.4439697265625,
            -0.48614501953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.7,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.7,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.4,
            -2.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.4,
            -2.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -307,
          "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": [
          0.42692353932426175,
          -0.29935928128902695,
          -0.13380307169637082,
          -1.331615614003366,
          -0.0026911914434180426,
          -0.6339123810387973,
          0.22023634674948367
        ],
        "act_joint_pos_r": [
          -0.5526714894281146,
          -1.0489663529679794,
          0.13006323163711497,
          -0.7137034010675873,
          0.3338965754287786,
          0.9165894314548568,
          -0.7021061491281537
        ],
        "act_eef_pose_l": [
          461.58388750798235,
          396.3694907697836,
          70.91163144788794,
          1.7733305520882827,
          0.005318314074867964,
          0.8621673808308363
        ],
        "act_eef_pose_r": [
          561.6302644042034,
          -180.8835481268787,
          -12.400656653079977,
          1.4718602442748545,
          0.013677909662153088,
          2.5295471962493106
        ],
        "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": [
          0.42864878094081954,
          -0.29550608785082344,
          -0.13535262891085456,
          -1.3388253630869598,
          0.0004911566260831047,
          -0.628554686425706,
          0.21714673368818063
        ],
        "joint_pos_r": [
          -0.5539430300559145,
          -1.0449565565189296,
          0.13034412386870722,
          -0.7219140366821902,
          0.3268966397882804,
          0.9148708354232582,
          -0.6948984387535712
        ],
        "eef_pose_l": [
          460.5015836033575,
          396.2734578717341,
          70.81058162764097,
          1.7757133593678733,
          0.005538930704732877,
          0.8638021390772701
        ],
        "eef_pose_r": [
          559.7891774704076,
          -180.35427342528627,
          -13.112266678378376,
          1.4757844659550134,
          0.009697943706856707,
          2.5357256482628716
        ],
        "joint_status_l": {
          "velocity": [
            -0.1863205993557493,
            -0.4161326181502112,
            0.16734724352118757,
            0.7786299365655225,
            -0.3436834551044472,
            -0.5786139529080359,
            0.33366836959802804
          ],
          "torque": [
            -31.22314453125,
            3.78662109375,
            -10.04638671875,
            0.286865234375,
            -3.4515380859375,
            -2.34375,
            0.0677490234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1373223376965882,
            -0.4330452445104882,
            -0.03033546631525663,
            0.88672249389532,
            0.7559707530084836,
            0.185602897347259,
            -0.7784097624856656
          ],
          "torque": [
            41.4404296875,
            -0.19775390625,
            6.976318359375,
            -1.898193359375,
            4.18212890625,
            4.37255859375,
            -0.65643310546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.8,
            -5.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.8,
            -5.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.4,
            -3.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.4,
            -3.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -299,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.43064336612442505,
          -0.2946190613122717,
          -0.13580918929864066,
          -1.3425878523376877,
          -0.005252898080002643,
          -0.6238032426827985,
          0.2215118289343076
        ],
        "act_joint_pos_r": [
          -0.5538007090239407,
          -1.0261421627239036,
          0.1316148029484116,
          -0.753354473700624,
          0.334681647763198,
          0.9014466119904146,
          -0.7068475030307416
        ],
        "act_eef_pose_l": [
          460.4014875079823,
          396.0190907697836,
          70.79323144788788,
          1.774008207149775,
          0.006302438893062011,
          0.8663918399953155
        ],
        "act_eef_pose_r": [
          557.5694644042035,
          -183.28114812687872,
          -9.612656653080194,
          1.472454265185882,
          0.01578300072085602,
          2.5318257251203975
        ],
        "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": [
          0.42866322423714687,
          -0.2957802469822394,
          -0.1352509513007589,
          -1.338492978945772,
          -0.0002915236402737888,
          -0.6286337398489256,
          0.21780254913419878
        ],
        "joint_pos_r": [
          -0.5538614190341041,
          -1.0430402022876943,
          0.13047303018316822,
          -0.7250385854623651,
          0.3281359863408105,
          0.9134446060945368,
          -0.6966183804853718
        ],
        "eef_pose_l": [
          460.59162860321726,
          396.26033213469657,
          70.81814183278323,
          1.7753490662908606,
          0.005584816962932068,
          0.8638753907750831
        ],
        "eef_pose_r": [
          559.641097620784,
          -180.71501637156766,
          -12.68233566133918,
          1.4751971579426493,
          0.01059355696599125,
          2.534963999156395
        ],
        "joint_status_l": {
          "velocity": [
            0.21384901668630718,
            0.12540435375285597,
            -0.06028792567391861,
            -0.44223328335313283,
            -0.5358126365417324,
            0.5216783078632048,
            0.4005904036292751
          ],
          "torque": [
            -21.96533203125,
            11.90185546875,
            -16.790771484375,
            -2.94189453125,
            -4.1217041015625,
            -0.7415771484375,
            0.49896240234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0065564877247403786,
            1.8249344493250774,
            0.1233078218764172,
            -3.0580257380838916,
            0.7069105844044188,
            -1.2957451472850323,
            -1.104712653141604
          ],
          "torque": [
            38.642578125,
            6.62109375,
            12.310791015625,
            -6.7626953125,
            4.4622802734375,
            2.5323486328125,
            -0.66558837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.7,
            -5.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.7,
            -5.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.8,
            -2.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.8,
            -2.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -364,
          "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": [
          0.4356659096052374,
          -0.2908982462463434,
          -0.13687262684209128,
          -1.339111781123671,
          -0.013491572425141428,
          -0.628844649812417,
          0.22923325475199863
        ],
        "act_joint_pos_r": [
          -0.5519451979719796,
          -0.9903629974075193,
          0.13429473012726764,
          -0.8177922694973004,
          0.34567447168365284,
          0.8982339159286223,
          -0.718972296328183
        ],
        "act_eef_pose_l": [
          459.34628750798237,
          398.42869076978366,
          70.14123144788783,
          1.772809189652653,
          0.006952466033564336,
          0.8692758888264319
        ],
        "act_eef_pose_r": [
          549.1590644042035,
          -185.2627481268787,
          1.1473433469197971,
          1.451371569230306,
          0.021602728874789114,
          2.5480305582845055
        ],
        "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": [
          0.4293754641369292,
          -0.29530666232146807,
          -0.13542632817822953,
          -1.338966356174418,
          -0.0017627591773610655,
          -0.6281431616091878,
          0.21901510928940107
        ],
        "joint_pos_r": [
          -0.5537451567004453,
          -1.0386121734751876,
          0.13078747211072683,
          -0.7327190973073434,
          0.3296846555634552,
          0.9115901378263429,
          -0.6987448471108012
        ],
        "eef_pose_l": [
          460.48211744953085,
          396.3908450364993,
          70.76640487854036,
          1.7750223029933234,
          0.005760155608749911,
          0.864525378033779
        ],
        "eef_pose_r": [
          558.9004315620982,
          -181.19778315483134,
          -11.639580562533212,
          1.4735610494712534,
          0.011650690799100973,
          2.5354652124294104
        ],
        "joint_status_l": {
          "velocity": [
            0.679348074276831,
            0.47609489444511155,
            -0.1561956489526395,
            -0.015705431311019424,
            -1.2666744721936876,
            -0.07575849157070991,
            1.1035271631665289
          ],
          "torque": [
            -17.8857421875,
            14.12109375,
            -17.10205078125,
            -1.629638671875,
            -4.2315673828125,
            -1.5765380859375,
            0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.19438980945363227,
            5.210757332235971,
            0.3787726944828318,
            -9.187631621805359,
            1.7268492102862076,
            -1.4424294227728396,
            -2.1845000870905906
          ],
          "torque": [
            40.3125,
            15.69580078125,
            13.787841796875,
            -14.9658203125,
            4.8138427734375,
            2.39501953125,
            -0.71502685546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.0,
            -8.2,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.0,
            -8.2,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.6,
            -2.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.6,
            -2.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -381,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 59,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4362330484354747,
          -0.2904175217184192,
          -0.1371610219489996,
          -1.341862975370532,
          -0.015264500787873137,
          -0.6252638554802528,
          0.23122845985036505
        ],
        "act_joint_pos_r": [
          -0.5473090797674587,
          -0.9681295828198714,
          0.13616365371128225,
          -0.8611599165834456,
          0.3501997477943912,
          0.8962920237622234,
          -0.7293358640148537
        ],
        "act_eef_pose_l": [
          459.35428750798235,
          398.16789076978364,
          70.22123144788776,
          1.7723281005479077,
          0.006308308034919109,
          0.870658008461685
        ],
        "act_eef_pose_r": [
          543.5582644042034,
          -185.2747481268787,
          10.0545433469199,
          1.4362366667437367,
          0.03219563004389986,
          2.56151223618626
        ],
        "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": [
          0.430528559480732,
          -0.2944925562188682,
          -0.13570283973249014,
          -1.339190434443805,
          -0.003964343198516521,
          -0.6280090090884046,
          0.22096562108727377
        ],
        "joint_pos_r": [
          -0.5531575050318724,
          -1.028789334569763,
          0.13151618756159025,
          -0.750280834017405,
          0.33277475230254006,
          0.9091158025725439,
          -0.7029234548767584
        ],
        "eef_pose_l": [
          460.281950657551,
          396.73139251561236,
          70.66095273272751,
          1.7745913808114737,
          0.0059282310714799625,
          0.8654597327604873
        ],
        "eef_pose_r": [
          556.9641652944777,
          -181.94345653044405,
          -8.886233823008752,
          1.4686778334897412,
          0.013994825438345595,
          2.5384742263784865
        ],
        "joint_status_l": {
          "velocity": [
            0.6160666371974877,
            0.440090746265831,
            -0.15747903478713354,
            -0.28862590752076756,
            -1.2203810264361201,
            0.29646784582926244,
            1.108353897262937
          ],
          "torque": [
            -16.51611328125,
            14.97802734375,
            -17.71240234375,
            -3.509521484375,
            -4.4219970703125,
            -0.626220703125,
            0.582275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6316113001774148,
            6.551059975802964,
            0.5019115410770381,
            -11.974587745545051,
            1.8818440110974777,
            -1.3849272652679545,
            -2.852456058219488
          ],
          "torque": [
            42.1728515625,
            10.40771484375,
            13.8671875,
            -13.9404296875,
            4.5574951171875,
            2.808837890625,
            -0.897216796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.1,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.3,
            -17.6,
            -3.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.3,
            -17.6,
            -3.1,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.4368768355859798,
          -0.291828932030672,
          -0.13667674045646602,
          -1.3414427414182983,
          -0.01881620115630697,
          -0.6226287561933701,
          0.23370118481872093
        ],
        "act_joint_pos_r": [
          -0.5339121079846572,
          -0.9228652964422145,
          0.1402319915986143,
          -0.9407399902794168,
          0.3530498513523513,
          0.8916057084414756,
          -0.7383784787454764
        ],
        "act_eef_pose_l": [
          459.9166875079824,
          398.0838907697837,
          69.88443144788772,
          1.7715762939614108,
          0.007087995983624588,
          0.8727874014023588
        ],
        "act_eef_pose_r": [
          533.3342644042035,
          -187.4947481268787,
          28.375343346919863,
          1.4118788178066817,
          0.05160453617981211,
          2.584828459512718
        ],
        "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": [
          0.4315835792647227,
          -0.29387382101185644,
          -0.1359257410648874,
          -1.3396326625449093,
          -0.006218389867427465,
          -0.6273336475858545,
          0.222958465053999
        ],
        "joint_pos_r": [
          -0.5510859907120808,
          -1.014058758088031,
          0.13268806526290086,
          -0.7769789543772947,
          0.33627422000304646,
          0.906353741354859,
          -0.7085683678846841
        ],
        "eef_pose_l": [
          460.1587600695705,
          396.978055193893,
          70.55966265025853,
          1.7741274167084757,
          0.006051961905584721,
          0.8665271238192429
        ],
        "eef_pose_r": [
          553.9702518851751,
          -182.78484651093214,
          -4.019106362413453,
          1.4605980369950733,
          0.01867890397763529,
          2.5445366234675495
        ],
        "joint_status_l": {
          "velocity": [
            0.5716548226377682,
            0.2208414965965133,
            -0.08110554221041344,
            -0.19548275286851435,
            -1.3605234927034846,
            0.5081132843880454,
            1.1601795169242646
          ],
          "torque": [
            -17.35107421875,
            14.14306640625,
            -18.060302734375,
            -3.8330078125,
            -4.2279052734375,
            -0.2362060546875,
            0.59051513671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.854724632382787,
            9.848603388718402,
            0.814720015374637,
            -17.68567026646739,
            1.8117147520544385,
            -1.5927405792730553,
            -3.219397021926085
          ],
          "torque": [
            45.18310546875,
            9.55078125,
            14.85595703125,
            -11.346435546875,
            4.2498779296875,
            3.1549072265625,
            -0.80657958984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.5,
            -5.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.5,
            -5.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.8,
            -19.8,
            -4.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.8,
            -19.8,
            -4.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -307,
          "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": [
          0.4369213177815941,
          -0.30180617355633677,
          -0.13250463118830275,
          -1.3191378259750601,
          -0.02243125921416322,
          -0.6410572902965029,
          0.23877733768075132
        ],
        "act_joint_pos_r": [
          -0.5157504143815839,
          -0.8906358474857002,
          0.1433120775734897,
          -0.9833921368375649,
          0.351428984728809,
          0.9073069733002106,
          -0.7551926295722219
        ],
        "act_eef_pose_l": [
          461.7870875079824,
          399.0166907697836,
          67.50763144788772,
          1.7711537580430499,
          0.008818360548335425,
          0.867017371668445
        ],
        "act_eef_pose_r": [
          526.6926644042035,
          -191.69634812687872,
          46.00414334691982,
          1.3865177214050155,
          0.09043849288537428,
          2.602142946204523
        ],
        "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": [
          0.43245697316194315,
          -0.2942570273596802,
          -0.13574838548910093,
          -1.338322007665546,
          -0.008550063298151622,
          -0.6278889149149376,
          0.22509051757987772
        ],
        "joint_pos_r": [
          -0.547901315506643,
          -0.9999673329295056,
          0.13387194432251903,
          -0.8016152508737973,
          0.3385349467474891,
          0.9049930863085253,
          -0.7134503735586576
        ],
        "eef_pose_l": [
          460.25512693427874,
          397.22595305759637,
          70.2762900973571,
          1.7736811278784974,
          0.006357231607730973,
          0.8671321601347892
        ],
        "eef_pose_r": [
          551.1760816592797,
          -183.68884784750776,
          1.2475081993972879,
          1.4524556961079018,
          0.024698390074861805,
          2.550990173477944
        ],
        "joint_status_l": {
          "velocity": [
            0.48213499911042845,
            -0.8152837437300775,
            0.35031513249372814,
            2.0718305171971707,
            -1.4991249446024424,
            -1.4221425973550694,
            1.4781329756923256
          ],
          "torque": [
            -15.56396484375,
            8.4521484375,
            -10.430908203125,
            -0.48828125,
            -4.1217041015625,
            -1.732177734375,
            0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.4721949145914976,
            11.807452185744083,
            1.01950432243203,
            -19.631324689114216,
            1.3925150319469282,
            0.2498924249190182,
            -4.5080306922065105
          ],
          "torque": [
            43.42529296875,
            6.46728515625,
            15.423583984375,
            -7.476806640625,
            4.22607421875,
            2.4993896484375,
            -0.62530517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -15.5,
            -6.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -15.5,
            -6.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -16.8,
            -3.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -16.8,
            -3.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -372,
          "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": [
          0.43463410956214477,
          -0.31150548692590113,
          -0.12921570473589145,
          -1.3091815375114249,
          -0.02526416209593168,
          -0.6482991034035114,
          0.2424634252661386
        ],
        "act_joint_pos_r": [
          -0.49651885839514215,
          -0.8668094072044541,
          0.14565909270932995,
          -1.0053543526272117,
          0.35829272171932214,
          0.9091808687429206,
          -0.7889285545599256
        ],
        "act_eef_pose_l": [
          463.7678875079824,
          397.02389076978363,
          66.67563144788784,
          1.768558922278871,
          0.009654117461254864,
          0.8605062100768707
        ],
        "act_eef_pose_r": [
          526.3182644042035,
          -198.6763481268787,
          60.55134334691979,
          1.3693619240467196,
          0.13937659557465099,
          2.5910410285162477
        ],
        "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": [
          0.432958068916234,
          -0.29681410399392705,
          -0.1347603863010708,
          -1.3336753744979306,
          -0.011361382719360399,
          -0.6311298201081076,
          0.22797498952382142
        ],
        "joint_pos_r": [
          -0.5396534599944747,
          -0.9766109854807558,
          0.1359213233525352,
          -0.838456100873422,
          0.3417469214853028,
          0.905641952399067,
          -0.7251480647317123
        ],
        "eef_pose_l": [
          460.7784762824697,
          397.2938599277615,
          69.67560110450091,
          1.7729368401694763,
          0.006932072597973683,
          0.866278829001696
        ],
        "eef_pose_r": [
          547.2384419469811,
          -186.14385954107732,
          11.411999185109579,
          1.4376247910758007,
          0.04217557702471596,
          2.559960447000955
        ],
        "joint_status_l": {
          "velocity": [
            0.1810070512409112,
            -1.5866225617218177,
            0.5988079481430431,
            2.6452563768764037,
            -1.5014558895953405,
            -1.8542279083746394,
            1.5647049116656042
          ],
          "torque": [
            -15.99609375,
            3.1787109375,
            -9.564208984375,
            -0.225830078125,
            -4.3927001953125,
            -2.669677734375,
            0.5419921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.658399580576678,
            11.858220714315415,
            1.0516480738318457,
            -18.0244795858,
            1.7868937236609206,
            0.3821916929940272,
            -6.888089748098736
          ],
          "torque": [
            40.65673828125,
            10.94970703125,
            15.789794921875,
            -7.40966796875,
            4.698486328125,
            3.8067626953125,
            -0.8697509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.0,
            -7.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.0,
            -7.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.7,
            -4.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.7,
            -4.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 36,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4327364316817267,
          -0.31632011726816595,
          -0.127662420909987,
          -1.3034381747435817,
          -0.025592644626837743,
          -0.6543261160300624,
          0.24252945616297314
        ],
        "act_joint_pos_r": [
          -0.4870872417833434,
          -0.8566852940707438,
          0.1467432087629174,
          -1.004513348979786,
          0.36131182158966,
          0.9065571883003579,
          -0.807390494008228
        ],
        "act_eef_pose_l": [
          464.64228750798236,
          395.95189076978363,
          66.60443144788775,
          1.7668261255901243,
          0.010725575156624211,
          0.8557453967043865
        ],
        "act_eef_pose_r": [
          528.9158644042035,
          -204.85314812687872,
          65.76414334691981,
          1.3669070140606687,
          0.16576387790745656,
          2.57382065605063
        ],
        "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": [
          0.43301525836874805,
          -0.30001841198728385,
          -0.1335842924921133,
          -1.3286208697640707,
          -0.013860906926029275,
          -0.634925028214087,
          0.23054498809409602
        ],
        "joint_pos_r": [
          -0.5336694942384295,
          -0.9621852920561257,
          0.13721149151421608,
          -0.8594400345233124,
          0.3440074908791197,
          0.9059354712047628,
          -0.7342586108846036
        ],
        "eef_pose_l": [
          461.42036035734077,
          397.1157047928435,
          69.12804801308272,
          1.771975822637074,
          0.007585829463003922,
          0.864649533559163
        ],
        "eef_pose_r": [
          545.2001902033529,
          -188.2008918744961,
          17.959566847927107,
          1.428704695456413,
          0.05575676463479587,
          2.5633314291670266
        ],
        "joint_status_l": {
          "velocity": [
            -0.030112394080905602,
            -1.7605322462119766,
            0.6395432685492031,
            2.719650850400157,
            -1.266990303805768,
            -2.09525568786173,
            1.2942843785612723
          ],
          "torque": [
            -20.09033203125,
            4.91455078125,
            -9.417724609375,
            1.20849609375,
            -4.7442626953125,
            -2.7301025390625,
            0.516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.030734891555255,
            11.393663744271976,
            1.0293951024740178,
            -15.667455874388558,
            1.8688125990569127,
            0.06714346603331478,
            -7.898010437984659
          ],
          "torque": [
            39.61669921875,
            8.45947265625,
            14.764404296875,
            -8.48388671875,
            4.471435546875,
            3.8726806640625,
            -0.84869384765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.3,
            -4.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.3,
            -4.5,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.42923140969369256,
          -0.32693607073473235,
          -0.12416276540102873,
          -1.2858012311806382,
          -0.029189503975216042,
          -0.6672900414161294,
          0.24670767724857232
        ],
        "act_joint_pos_r": [
          -0.46824538189903375,
          -0.835838261808335,
          0.14853621154484792,
          -1.0000640651324,
          0.35529729466795473,
          0.8875445665919414,
          -0.8237329658520015
        ],
        "act_eef_pose_l": [
          467.2422875079824,
          395.5630907697837,
          66.16123144788781,
          1.763100480841497,
          0.01058962562413019,
          0.8503550231912476
        ],
        "act_eef_pose_r": [
          535.6190644042035,
          -218.5035481268787,
          72.79614334691996,
          1.3789811964758096,
          0.20539598204894827,
          2.536508289508412
        ],
        "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": [
          0.4325739039848483,
          -0.3038962704708068,
          -0.1322158534134888,
          -1.322490749640542,
          -0.016195429654860576,
          -0.6395773625122997,
          0.2329866610165788
        ],
        "joint_pos_r": [
          -0.5226842949963739,
          -0.9391804555105954,
          0.13928216180392844,
          -0.8882298396458748,
          0.346970553696526,
          0.9044275732844765,
          -0.7503678564103361
        ],
        "eef_pose_l": [
          462.2485392819187,
          396.88951837450367,
          68.64966455230831,
          1.7707459679353108,
          0.008141705338433902,
          0.8625715783154803
        ],
        "eef_pose_r": [
          543.1242033383247,
          -192.9377176772834,
          28.226106118636267,
          1.4173573003841389,
          0.08117775147212465,
          2.562920162329481
        ],
        "joint_status_l": {
          "velocity": [
            -0.36097873694629357,
            -2.4882250422288976,
            0.8697078546836545,
            3.9623511303705783,
            -1.4033186379275446,
            -2.9928810513055737,
            1.481826048932211
          ],
          "torque": [
            -25.283203125,
            3.5595703125,
            -9.307861328125,
            0.9033203125,
            -4.786376953125,
            -2.6953125,
            0.51544189453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.879229215916215,
            11.16062775472404,
            0.9994078960590125,
            -12.077740138639825,
            0.8992615026137685,
            -1.823310947112411,
            -7.923198137461895
          ],
          "torque": [
            42.03369140625,
            13.2421875,
            15.5029296875,
            -6.8603515625,
            4.0924072265625,
            2.55615234375,
            -0.758056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.0,
            -16.6,
            -6.2,
            1.4,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            2.0,
            -16.6,
            -6.2,
            1.4,
            0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -18.2,
            -2.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -18.2,
            -2.0,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -326,
          "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": [
          0.4274147618965158,
          -0.33398499592157194,
          -0.12202410681629847,
          -1.2743944483862213,
          -0.03325821771244483,
          -0.676889470048177,
          0.2525471155857356
        ],
        "act_joint_pos_r": [
          -0.4553935989332634,
          -0.8146373674705003,
          0.15034248253491375,
          -0.98853876811816,
          0.3482671957382659,
          0.8586228598709382,
          -0.8289607396246349
        ],
        "act_eef_pose_l": [
          468.8078875079824,
          395.03829076978366,
          65.99323144788792,
          1.7594752708349741,
          0.009161063993155784,
          0.8454928633846186
        ],
        "act_eef_pose_r": [
          543.8718644042035,
          -235.6331481268787,
          74.92494334691992,
          1.4026015913263192,
          0.22976722939541364,
          2.4892057013672377
        ],
        "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": [
          0.43175398581993085,
          -0.3088582185052789,
          -0.13052248232452815,
          -1.3145662319794373,
          -0.01900563752539416,
          -0.6456869335976044,
          0.2361485480822705
        ],
        "joint_pos_r": [
          -0.5109430904026221,
          -0.9172525802953185,
          0.14123534505464228,
          -0.9080701079164184,
          0.34775132027646033,
          0.8979724519720244,
          -0.7648264991564427
        ],
        "eef_pose_l": [
          463.33621497494585,
          396.60179508444094,
          68.16790167138919,
          1.7689889777995482,
          0.008476047274451093,
          0.8597893746674523
        ],
        "eef_pose_r": [
          543.187713972962,
          -199.89479938481892,
          36.83164446121529,
          1.4133172049692353,
          0.10749276400999867,
          2.5530413450420593
        ],
        "joint_status_l": {
          "velocity": [
            -0.46862236245148736,
            -2.713611927254167,
            0.9177974858989302,
            4.3384246730724385,
            -1.5392332629430572,
            -3.3697745504746024,
            1.7709930577258781
          ],
          "torque": [
            -25.90576171875,
            4.00634765625,
            -8.758544921875,
            0.62255859375,
            -4.8651123046875,
            -2.684326171875,
            0.54290771484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.999168142684752,
            11.08211613553678,
            0.9835418398533857,
            -8.690358993349356,
            0.05571290671069207,
            -4.249630610762445,
            -6.926293690451502
          ],
          "torque": [
            39.7998046875,
            11.74072265625,
            15.8203125,
            -6.939697265625,
            3.84521484375,
            1.6021728515625,
            -0.6646728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.6,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.6,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -17.1,
            -4.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.1,
            -4.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -106,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4277452913920803,
          -0.3326648010033452,
          -0.12295810520189342,
          -1.2866683312362985,
          -0.034755833524807475,
          -0.6676908950596618,
          0.25523365158776345
        ],
        "act_joint_pos_r": [
          -0.44955597481825915,
          -0.79722846073149,
          0.1517883128912637,
          -0.9754923851502841,
          0.35059134421074045,
          0.8199844587286299,
          -0.8410929300359515
        ],
        "act_eef_pose_l": [
          468.25028750798236,
          392.3966907697836,
          66.71723144788785,
          1.7578579311961782,
          0.007887134596987857,
          0.8438166199127853
        ],
        "act_eef_pose_r": [
          552.7710644042036,
          -253.2499481268787,
          73.34654334691982,
          1.4285259708583862,
          0.2471902581261936,
          2.43281188099608
        ],
        "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": [
          0.4310779355251603,
          -0.3128399690072588,
          -0.12923078403951882,
          -1.3093471976990778,
          -0.021517690435119002,
          -0.6497784918991131,
          0.23914755240950497
        ],
        "joint_pos_r": [
          -0.5036034250452837,
          -0.9033092071894995,
          0.1424670590451193,
          -0.9174527840989823,
          0.3479513875563044,
          0.8907682796342191,
          -0.773613805215166
        ],
        "eef_pose_l": [
          464.1767512462242,
          396.0547010502991,
          67.87863715576327,
          1.7672758383224987,
          0.008498694161787649,
          0.8572385320285593
        ],
        "eef_pose_r": [
          544.1455118570075,
          -205.47711776266644,
          41.43101133405156,
          1.414077085999943,
          0.12398660931838482,
          2.5418830481424175
        ],
        "joint_status_l": {
          "velocity": [
            -0.3599149512485411,
            -2.141018709605813,
            0.6774293347533433,
            2.4492453413511583,
            -1.4296772876086772,
            -1.9344824868277044,
            1.73724747387638
          ],
          "torque": [
            -28.23486328125,
            5.126953125,
            -9.320068359375,
            0.48828125,
            -4.8834228515625,
            -2.76123046875,
            0.52459716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.836952472807688,
            11.45638272951821,
            1.006665725365119,
            -6.268092046047613,
            0.2851069098999126,
            -7.644427197475601,
            -7.287530546419951
          ],
          "torque": [
            40.4150390625,
            10.5029296875,
            15.032958984375,
            -7.53173828125,
            4.053955078125,
            0.1153564453125,
            -0.618896484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.4,
            -3.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.4,
            -3.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -16.4,
            -5.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -16.4,
            -5.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -379,
          "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": [
          0.42901982413201245,
          -0.3296281161398216,
          -0.12388690599591684,
          -1.2890045021777559,
          -0.03287396142876131,
          -0.6687474769097796,
          0.2530328428966702
        ],
        "act_joint_pos_r": [
          -0.44518595998461,
          -0.788187389935521,
          0.15219380652238804,
          -0.95389749057061,
          0.35077399950624955,
          0.7978038451458686,
          -0.8315126368740289
        ],
        "act_eef_pose_l": [
          467.1958875079823,
          392.81909076978366,
          66.66443144788792,
          1.759117686707796,
          0.0088419340305705,
          0.843328063906787
        ],
        "act_eef_pose_r": [
          560.1054644042035,
          -267.8955481268787,
          71.39454334691982,
          1.4482316484393198,
          0.24452045750811685,
          2.3919634459125385
        ],
        "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": [
          0.43063251789772444,
          -0.3160024978777126,
          -0.12822653019060481,
          -1.3056010035723487,
          -0.023645949665810025,
          -0.6530647830462339,
          0.2417433645135354
        ],
        "joint_pos_r": [
          -0.49165924023767416,
          -0.8798198128688768,
          0.14449237254135489,
          -0.9276645010023035,
          0.34853173983156993,
          0.8734885139933466,
          -0.7870307237089711
        ],
        "eef_pose_l": [
          464.7802856176553,
          395.4594315662035,
          67.65919630770154,
          1.765776160649451,
          0.00853078912448365,
          0.8548013355095321
        ],
        "eef_pose_r": [
          547.3116345151543,
          -217.01946967840476,
          47.75065002846196,
          1.4203945585271263,
          0.15003363966639346,
          2.5147405959241995
        ],
        "joint_status_l": {
          "velocity": [
            -0.1741657899514415,
            -1.4715233720457022,
            0.4686655904736492,
            1.7923692875108088,
            -0.9965958773744954,
            -1.6936809848120404,
            1.2192277061793266
          ],
          "torque": [
            -28.7255859375,
            5.537109375,
            -9.033203125,
            1.458740234375,
            -5.0335693359375,
            -2.1844482421875,
            0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.0189662408341995,
            9.896009809594375,
            0.8317303393763353,
            -2.8330793161686074,
            0.24215690282902713,
            -8.173703165039292,
            -4.803904938222914
          ],
          "torque": [
            39.8876953125,
            9.63134765625,
            16.070556640625,
            -5.584716796875,
            4.2828369140625,
            1.7669677734375,
            -0.78826904296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.2,
            -5.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.2,
            -5.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -17.0,
            -2.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.0,
            -2.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.4307489457122949,
          -0.3262187628864131,
          -0.12471086689560022,
          -1.286860115600376,
          -0.03377371706938499,
          -0.6718339500776536,
          0.2551445601412242
        ],
        "act_joint_pos_r": [
          -0.435454149115539,
          -0.7801639240103093,
          0.15280093424438057,
          -0.9425055867530838,
          0.3219117671845449,
          0.7656636908480607,
          -0.7969292361661748
        ],
        "act_eef_pose_l": [
          466.44868750798236,
          394.8582907697837,
          66.5620314478877,
          1.7597707905050908,
          0.007306031234772949,
          0.8455324057189197
        ],
        "act_eef_pose_r": [
          566.0862644042035,
          -278.1787481268787,
          69.18414334691988,
          1.4828051632792425,
          0.24084396785783344,
          2.367565394639014
        ],
        "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": [
          0.4305625175247109,
          -0.3178577649276257,
          -0.12760609428585742,
          -1.3026306375082504,
          -0.025264522729887155,
          -0.655991231124617,
          0.24383759424507837
        ],
        "joint_pos_r": [
          -0.4852370842425402,
          -0.8678058957486955,
          0.14549820053381055,
          -0.930308446296289,
          0.34713713512354183,
          0.8620829446379875,
          -0.7906267767781606
        ],
        "eef_pose_l": [
          465.09445712887475,
          395.2561952534512,
          67.47920690596038,
          1.764774080607188,
          0.008428241945303516,
          0.8531563985335978
        ],
        "eef_pose_r": [
          549.6157792197937,
          -223.86174197590893,
          50.3901497368044,
          1.4268032134429194,
          0.16167860735997688,
          2.49804613247596
        ],
        "joint_status_l": {
          "velocity": [
            0.020133650448617146,
            -0.9029611481334854,
            0.3126753362817647,
            1.7031661338506865,
            -0.9189658852157556,
            -1.7109631847658235,
            1.2211163018833737
          ],
          "torque": [
            -25.95703125,
            5.91796875,
            -9.50927734375,
            0.946044921875,
            -5.1287841796875,
            -2.5048828125,
            0.5364990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.376398425320783,
            9.465053790906452,
            0.7886719801049047,
            -1.3172523190529972,
            -2.7242593896761313,
            -10.412972295111622,
            -0.6806455393384425
          ],
          "torque": [
            41.62353515625,
            9.30908203125,
            15.338134765625,
            -6.085205078125,
            1.907958984375,
            0.3790283203125,
            -0.81298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.7,
            -6.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.0,
            -16.7,
            -6.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -16.8,
            -4.7,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.8,
            -4.7,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -353,
          "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": [
          0.42990345597799556,
          -0.3265661804769653,
          -0.12458937595652625,
          -1.2856865154811117,
          -0.03140859930096663,
          -0.673561494943712,
          0.25364765133817835
        ],
        "act_joint_pos_r": [
          -0.4280541236999462,
          -0.7809134201410861,
          0.1524007570730847,
          -0.9268243045352614,
          0.29480693357986176,
          0.7612762202830705,
          -0.7756971860431096
        ],
        "act_eef_pose_l": [
          466.4654875079824,
          394.85269076978364,
          66.62043144788782,
          1.7604022090807265,
          0.006703175161915205,
          0.8442414429319924
        ],
        "act_eef_pose_r": [
          569.0822644042034,
          -282.25154812687873,
          68.02574334691985,
          1.501387920355457,
          0.2473009266857995,
          2.364075551045003
        ],
        "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": [
          0.4305000721468718,
          -0.3193752632393113,
          -0.1270804843625541,
          -1.2997098443014956,
          -0.026502133259317596,
          -0.6589872980651054,
          0.245667845457428
        ],
        "joint_pos_r": [
          -0.47380066171923196,
          -0.8492269252345832,
          0.14700817621166007,
          -0.9311363333468242,
          0.33870675299189046,
          0.8410551632685301,
          -0.7895730145357468
        ],
        "eef_pose_l": [
          465.3371642038662,
          395.1855139589745,
          67.32008560551643,
          1.7639742451736558,
          0.008175558503489947,
          0.8516575416325782
        ],
        "eef_pose_r": [
          553.9475458511347,
          -235.4939043507687,
          53.878294335565926,
          1.442425148471626,
          0.1790722245709375,
          2.470499598431052
        ],
        "joint_status_l": {
          "velocity": [
            -0.06443264589961473,
            -0.7765961571872815,
            0.2690317731830483,
            1.5144748455533374,
            -0.5298827044430965,
            -1.573966841219132,
            0.8617936178767494
          ],
          "torque": [
            -28.59375,
            6.36474609375,
            -9.72900390625,
            0.531005859375,
            -5.0592041015625,
            -2.384033203125,
            0.60699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.940480394402869,
            7.377640958209142,
            0.5823815566079471,
            0.46568537699354096,
            -4.741040666979224,
            -8.615871730876634,
            1.4985452799747279
          ],
          "torque": [
            40.68603515625,
            7.529296875,
            16.650390625,
            -3.277587890625,
            1.439208984375,
            1.54541015625,
            0.3240966796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.1,
            -5.2,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.1,
            -5.2,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.1,
            -4.8,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.1,
            -4.8,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -318,
          "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": [
          0.4283813881606783,
          -0.32708639507907844,
          -0.12445261556631171,
          -1.2853541672651103,
          -0.028836478694468776,
          -0.6737520784113439,
          0.25222624347247236
        ],
        "act_joint_pos_r": [
          -0.41205426250684374,
          -0.7860036500205048,
          0.15105113000603212,
          -0.8890115831156564,
          0.24366117575889268,
          0.7676221265993562,
          -0.7282886246939122
        ],
        "act_eef_pose_l": [
          466.68148750798235,
          394.6726907697837,
          66.92043144788778,
          1.7608223181623743,
          0.0053761985233863815,
          0.8433736052174015
        ],
        "act_eef_pose_r": [
          574.5182644042035,
          -289.3627481268787,
          67.43214334691993,
          1.5300651933526117,
          0.2535056037372831,
          2.3635319059940554
        ],
        "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": [
          0.4303151418020647,
          -0.320318983356288,
          -0.12675668994160968,
          -1.2979186374429617,
          -0.0269350001393649,
          -0.6608377047757424,
          0.24657098830051424
        ],
        "joint_pos_r": [
          -0.464120859768347,
          -0.8376548239707791,
          0.1478273889133549,
          -0.9266128803967166,
          0.32585767267983123,
          0.8275807723071273,
          -0.782404149234509
        ],
        "eef_pose_l": [
          465.4958870115775,
          395.1309788579953,
          67.25196138865184,
          1.7635585443687392,
          0.007900158347843005,
          0.8506588047081103
        ],
        "eef_pose_r": [
          557.4606482367931,
          -244.08233403439303,
          56.009389794935686,
          1.4569148951190296,
          0.19171597219039738,
          2.452485841643943
        ],
        "joint_status_l": {
          "velocity": [
            -0.2088392338861489,
            -0.7308589105297081,
            0.24883269360420623,
            1.3569227589123045,
            -0.2053536273697032,
            -1.3947112178360754,
            0.6107495454763523
          ],
          "torque": [
            -29.501953125,
            5.93994140625,
            -9.87548828125,
            -0.018310546875,
            -5.1123046875,
            -2.471923828125,
            0.58685302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.623026661936148,
            5.578162267528164,
            0.3481537697624937,
            4.060820338860793,
            -8.876959855525168,
            -6.4753427564134824,
            5.844304281843904
          ],
          "torque": [
            39.26513671875,
            10.15869140625,
            16.7236328125,
            -0.836181640625,
            1.6168212890625,
            1.54541015625,
            0.78277587890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.8,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.8,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -16.9,
            -2.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.9,
            -2.3,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -320,
          "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": [
          0.4279271379247579,
          -0.32718235129698486,
          -0.12442167541003162,
          -1.2850538575036192,
          -0.027017437744426016,
          -0.6747396640979423,
          0.25011212851411435
        ],
        "act_joint_pos_r": [
          -0.39893236047185443,
          -0.7964473479069418,
          0.1491700059933539,
          -0.8498169990230211,
          0.21926675720209543,
          0.7771341883139288,
          -0.7025929722093369
        ],
        "act_eef_pose_l": [
          466.6086875079824,
          394.5742907697836,
          66.92683144788776,
          1.7614024577506588,
          0.005971430577213175,
          0.8424811832448696
        ],
        "act_eef_pose_r": [
          580.5758644042035,
          -294.95314812687866,
          68.40974334691987,
          1.5423127478262673,
          0.25739609699923455,
          2.355856004064503
        ],
        "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": [
          0.4299168384257851,
          -0.32160519371227136,
          -0.12631890361239276,
          -1.295521833841665,
          -0.027163294058156203,
          -0.6633502069005746,
          0.24748760983446008
        ],
        "joint_pos_r": [
          -0.4578585567916713,
          -0.8321343413409096,
          0.1481356911503136,
          -0.9212140067666801,
          0.3158630034684151,
          0.8210953774250467,
          -0.7755398432112517
        ],
        "eef_pose_l": [
          465.71600716122964,
          395.03779529971877,
          67.18838748479965,
          1.7630845590075195,
          0.0074707124517684464,
          0.8492166084386545
        ],
        "eef_pose_r": [
          559.7281139187141,
          -249.09638690209476,
          57.13330401546688,
          1.4662255447641555,
          0.19886733565739745,
          2.442861065460733
        ],
        "joint_status_l": {
          "velocity": [
            -0.21488131652569464,
            -0.6023152548100263,
            0.2048946028118115,
            1.13050810195503,
            0.01575201730194542,
            -1.2300250996641893,
            0.28343965779686897
          ],
          "torque": [
            -29.52392578125,
            6.39404296875,
            -9.783935546875,
            0.5615234375,
            -3.87451171875,
            -2.2723388671875,
            0.5584716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.363841511067836,
            3.85408162080747,
            0.11170270855309639,
            7.710649422866922,
            -10.432086918805261,
            -4.747668399006422,
            7.878029718140667
          ],
          "torque": [
            40.2099609375,
            8.1591796875,
            17.41943359375,
            -1.9775390625,
            1.3037109375,
            2.054443359375,
            0.75164794921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.8,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.8,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.8,
            -3.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.8,
            -3.8,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.42793752731107065,
          -0.32746869998391775,
          -0.12436516878069992,
          -1.2852979450392106,
          -0.025989953993822996,
          -0.6750853949048234,
          0.24963984019657448
        ],
        "act_joint_pos_r": [
          -0.38930064452097657,
          -0.8073801505698778,
          0.1475262316789642,
          -0.8198676105342642,
          0.2046949925540229,
          0.7824096231485241,
          -0.6872411065140476
        ],
        "act_eef_pose_l": [
          466.52948750798237,
          394.27829076978367,
          66.78763144788792,
          1.761858568466904,
          0.005909019615001865,
          0.8414329984102434
        ],
        "act_eef_pose_r": [
          585.6254644042035,
          -297.9443481268787,
          69.1993433469197,
          1.54971353862518,
          0.2602541059725628,
          2.3489904090612215
        ],
        "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": [
          0.4295906332441136,
          -0.3225466457119041,
          -0.12600215502362672,
          -1.2938219110185716,
          -0.0270510696363881,
          -0.6652522739341481,
          0.24787850557785543
        ],
        "joint_pos_r": [
          -0.4434073412336673,
          -0.8254952467423564,
          0.1481608924030424,
          -0.9014008316018992,
          0.292326887799074,
          0.8118845840872807,
          -0.7572181056107123
        ],
        "eef_pose_l": [
          465.85691774692066,
          394.93647349830803,
          67.13290918790949,
          1.7628462414101216,
          0.007220486313590836,
          0.8480195488326945
        ],
        "eef_pose_r": [
          565.3786414676607,
          -259.24207688396683,
          59.376443224381546,
          1.485415019049141,
          0.21278011996872914,
          2.4237916941921323
        ],
        "joint_status_l": {
          "velocity": [
            -0.17853017530278237,
            -0.5315661836706731,
            0.17678930011444383,
            0.9205611752705067,
            0.1145971095359577,
            -1.061945744416981,
            0.1902185286259961
          ],
          "torque": [
            -30.205078125,
            5.712890625,
            -9.912109375,
            0.86669921875,
            -2.684326171875,
            -2.354736328125,
            0.56396484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.843350904548128,
            1.956372686500174,
            -0.06854133668188211,
            8.805328176032745,
            -9.463965561721466,
            -3.183201897864585,
            7.557293011997146
          ],
          "torque": [
            41.85791015625,
            9.49951171875,
            10.821533203125,
            -1.666259765625,
            1.0986328125,
            1.578369140625,
            0.78460693359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.7,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.7,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.2,
            -3.1,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.2,
            -3.1,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "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": [
          0.4302939843849985,
          -0.3237205048604237,
          -0.12563117672755636,
          -1.2923431146111046,
          -0.02823547339125006,
          -0.6709441855793461,
          0.2513516086181247
        ],
        "act_joint_pos_r": [
          -0.3801181270317442,
          -0.8211667220336341,
          0.14551019134004267,
          -0.7828958007197391,
          0.18462648968303164,
          0.7944626833848611,
          -0.667294452815239
        ],
        "act_eef_pose_l": [
          465.42308750798236,
          394.0662907697837,
          66.9212314478878,
          1.7615703380108714,
          0.006424196451601002,
          0.8425951139362511
        ],
        "act_eef_pose_r": [
          590.5254644042035,
          -300.67154812687875,
          68.84654334691982,
          1.5600253042969596,
          0.262074529628618,
          2.346551987489293
        ],
        "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": [
          0.42945580355274876,
          -0.3231380016656989,
          -0.12580660956956458,
          -1.292830004055364,
          -0.027007113823367214,
          -0.6666281483786692,
          0.24826753127019924
        ],
        "joint_pos_r": [
          -0.4335991116662195,
          -0.8238884935414836,
          0.14785603127866312,
          -0.8843197417418769,
          0.27592449519999185,
          0.8082378980518349,
          -0.7437302153541854
        ],
        "eef_pose_l": [
          465.9037548471161,
          394.8160016824032,
          67.08359627307408,
          1.7626669152598793,
          0.0070355879344600105,
          0.8470042588389888
        ],
        "eef_pose_r": [
          569.4152554503258,
          -265.5505981345791,
          60.71606497140144,
          1.4975756696894291,
          0.22115240717151616,
          2.41207864910149
        ],
        "joint_status_l": {
          "velocity": [
            0.09052086011296367,
            -0.06290848964329854,
            0.01894618814890503,
            0.052582509141529954,
            -0.13265892076561037,
            -0.4661182702490052,
            0.3330705301856085
          ],
          "torque": [
            -24.0087890625,
            6.89208984375,
            -13.421630859375,
            -1.141357421875,
            -4.215087890625,
            -2.4810791015625,
            0.5731201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.775775993116294,
            0.29394265347271187,
            -0.2533432414115744,
            10.953462575281847,
            -9.859893793808805,
            -1.4876793072771122,
            8.254818891337834
          ],
          "torque": [
            39.00146484375,
            8.97216796875,
            10.75439453125,
            -0.677490234375,
            1.5087890625,
            1.409912109375,
            0.6884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.4,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.4,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -17.6,
            -2.0,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.6,
            -2.0,
            1.0,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -337,
          "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": [
          0.43356379632319214,
          -0.32062119420867397,
          -0.12647840540922445,
          -1.2929061028644044,
          -0.03152407681563651,
          -0.6724198597427499,
          0.2543554067155644
        ],
        "act_joint_pos_r": [
          -0.378272101119399,
          -0.8269569928354232,
          0.14471831308189628,
          -0.7688696637221193,
          0.17909400894070115,
          0.7989531824683719,
          -0.6616702567468035
        ],
        "act_eef_pose_l": [
          464.4238875079824,
          395.1734907697836,
          66.45723144788786,
          1.7616261283744539,
          0.007140664355756702,
          0.8440205606566402
        ],
        "act_eef_pose_r": [
          592.2278644042035,
          -301.4627481268787,
          67.99934334691989,
          1.563746826812934,
          0.26185166906994195,
          2.3454033502976968
        ],
        "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": [
          0.4298950814144591,
          -0.3229819294120804,
          -0.1258462112202133,
          -1.292786316626456,
          -0.02752176385649828,
          -0.6675707789866042,
          0.2491085200220225
        ],
        "joint_pos_r": [
          -0.4232809117696725,
          -0.8240273683107995,
          0.14732322277034657,
          -0.8635641072850291,
          0.2580414861659362,
          0.8061405923024106,
          -0.7286463719046706
        ],
        "eef_pose_l": [
          465.727149171517,
          394.7691766964607,
          67.01221808932925,
          1.7624668670311883,
          0.006982855591815709,
          0.8462920311211539
        ],
        "eef_pose_r": [
          573.8148107903685,
          -271.98908803225794,
          61.94247571896574,
          1.510208306919373,
          0.22929022090898982,
          2.4002985831698136
        ],
        "joint_status_l": {
          "velocity": [
            0.3962095245677588,
            0.2549518825638586,
            -0.06827495875083578,
            -0.012936532154839142,
            -0.4322370514365237,
            -0.5236852763914612,
            0.5666470505412136
          ],
          "torque": [
            -20.595703125,
            12.13623046875,
            -16.8212890625,
            -1.30615234375,
            -4.969482421875,
            -2.5982666015625,
            0.5584716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.860808188355659,
            -0.31639011723072485,
            -0.281321949205493,
            10.226698284450997,
            -8.526076077153277,
            -0.7762173687693164,
            7.233207105008965
          ],
          "torque": [
            41.43310546875,
            4.59228515625,
            9.82666015625,
            -0.54931640625,
            1.256103515625,
            1.5289306640625,
            0.8624267578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.3,
            -6.6,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.3,
            -6.6,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.1,
            -2.9,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.1,
            -2.9,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -349,
          "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": [
          0.4402497781561907,
          -0.31455963467463777,
          -0.12853950995965868,
          -1.3024101898649938,
          -0.04238455037823725,
          -0.6647339200447012,
          0.26450110980916786
        ],
        "act_joint_pos_r": [
          -0.37665598490254887,
          -0.8367467663221705,
          0.14351690396513486,
          -0.7484505927211463,
          0.16888993334090507,
          0.8030489922507064,
          -0.649151648263023
        ],
        "act_eef_pose_l": [
          462.8430875079823,
          395.76789076978366,
          66.05483144788792,
          1.7597769568912485,
          0.007420053981759042,
          0.8494601015134979
        ],
        "act_eef_pose_r": [
          594.8310644042035,
          -302.01714812687874,
          65.60094334691985,
          1.5721694521907852,
          0.25752406644323694,
          2.344100218669352
        ],
        "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": [
          0.43111797234281823,
          -0.3220439293370034,
          -0.12613500820145646,
          -1.2936237625116997,
          -0.02916216753073473,
          -0.6677680237010684,
          0.25090758612025155
        ],
        "joint_pos_r": [
          -0.4145479297043048,
          -0.8259420018212983,
          0.1466637965756508,
          -0.8428249966763574,
          0.24169906982747594,
          0.8053512427040933,
          -0.7142452556223249
        ],
        "eef_pose_l": [
          465.36080700379364,
          394.8915557170623,
          66.87784041950584,
          1.7621548409319452,
          0.007036546532374674,
          0.8463525224244222
        ],
        "eef_pose_r": [
          577.8354777029332,
          -277.42049085178826,
          62.59395706458622,
          1.5217291344471824,
          0.23520465597079676,
          2.390310609969364
        ],
        "joint_status_l": {
          "velocity": [
            0.9862059412544255,
            0.8082799845916533,
            -0.2596785310768901,
            -0.9489061676628552,
            -1.4279752316520844,
            0.3276735306734224,
            1.4680572603684716
          ],
          "torque": [
            -18.0908203125,
            13.7841796875,
            -17.303466796875,
            -3.094482421875,
            -5.115966796875,
            -1.2615966796875,
            0.62896728515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.092209345326836,
            -1.166880150803351,
            -0.3398543784667307,
            10.19213502620886,
            -7.86315482919453,
            -0.24863571584798905,
            7.029902258921084
          ],
          "torque": [
            40.634765625,
            2.63671875,
            9.7900390625,
            -1.312255859375,
            1.25244140625,
            1.6937255859375,
            0.59326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.7,
            -6.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.0,
            -16.7,
            -6.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.5,
            -2.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.5,
            -2.3,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -322,
          "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": [
          0.4458488972787972,
          -0.3070597545671111,
          -0.13135253676473352,
          -1.3174564333419612,
          -0.048070112574949614,
          -0.6517551240257944,
          0.2690007386018238
        ],
        "act_joint_pos_r": [
          -0.38041496655555207,
          -0.846480443311574,
          0.14252174234492174,
          -0.7340540321067658,
          0.1686181080912137,
          0.8050751802706837,
          -0.6436731591201496
        ],
        "act_eef_pose_l": [
          461.00148750798235,
          395.68869076978365,
          65.98203144788778,
          1.7601974656619996,
          0.008136391334073607,
          0.8555278825715651
        ],
        "act_eef_pose_r": [
          596.4414644042034,
          -301.0491481268787,
          61.73054334691983,
          1.576735322890077,
          0.2488474837563963,
          2.342746984224172
        ],
        "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": [
          0.43321343753428393,
          -0.3200765094786372,
          -0.1268017435490633,
          -1.2964695362733925,
          -0.03198830536888601,
          -0.6661168736285359,
          0.253697489870805
        ],
        "joint_pos_r": [
          -0.40832202862709344,
          -0.8290790297040268,
          0.14598198753051309,
          -0.8243245293704528,
          0.22879154650673586,
          0.8051995291614739,
          -0.7020457499938061
        ],
        "eef_pose_l": [
          464.7588143163836,
          395.04079756140646,
          66.72436550502985,
          1.761740906294146,
          0.007163214877015722,
          0.8474166680961708
        ],
        "eef_pose_r": [
          581.1763276316992,
          -281.5076839118913,
          62.532325863061544,
          1.5313412775589121,
          0.23828709700876793,
          2.382359710174738
        ],
        "joint_status_l": {
          "velocity": [
            1.3645894059943764,
            1.4057680695320762,
            -0.491471172125002,
            -2.2665180360288417,
            -1.7367839545502362,
            1.5510232121123124,
            1.6527021191063973
          ],
          "torque": [
            -17.02880859375,
            16.201171875,
            -17.71240234375,
            -4.21142578125,
            -5.0079345703125,
            -1.0418701171875,
            0.70953369140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.013873814269985,
            -1.8792972427048582,
            -0.3736954584854235,
            9.748926175270789,
            -6.498539684693716,
            -0.013429284130062058,
            6.304053886224459
          ],
          "torque": [
            41.62353515625,
            -0.05126953125,
            8.538818359375,
            -0.59814453125,
            1.270751953125,
            2.230224609375,
            0.93658447265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -16.6,
            -4.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.6,
            -4.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -16.6,
            -2.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -2.8,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.44835513341496386,
          -0.3030257375225401,
          -0.13271344099985916,
          -1.3203755279758442,
          -0.05186342273105671,
          -0.6500585509008036,
          0.2721222641899118
        ],
        "act_joint_pos_r": [
          -0.38472016474126747,
          -0.8636943655878817,
          0.14076940539027433,
          -0.705543922335695,
          0.15771519276772225,
          0.8183231323762166,
          -0.6233850235845708
        ],
        "act_eef_pose_l": [
          460.13508750798235,
          396.8302907697837,
          66.18283144788785,
          1.7595785629004896,
          0.00798168414956505,
          0.8587726195471684
        ],
        "act_eef_pose_r": [
          598.2542644042035,
          -298.69874812687874,
          55.37054334691993,
          1.5873233796750512,
          0.23199998549740888,
          2.3496914647054696
        ],
        "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": [
          0.4356627432854013,
          -0.3174285727615257,
          -0.12772324447661865,
          -1.3004309050603262,
          -0.03515749578175676,
          -0.6634318839204031,
          0.2566713278056047
        ],
        "joint_pos_r": [
          -0.40422004849047016,
          -0.8338822085364004,
          0.14521540071013053,
          -0.8062673193338038,
          0.21766899811367424,
          0.8066740231024896,
          -0.6901601977918722
        ],
        "eef_pose_l": [
          464.022505974237,
          395.2560248659076,
          66.60861895558742,
          1.761368845483665,
          0.007317801952460433,
          0.8491249119842678
        ],
        "eef_pose_r": [
          584.0062557875873,
          -284.37306896818683,
          61.62372230494515,
          1.539971441628181,
          0.2383183713247698,
          2.3769312336435133
        ],
        "joint_status_l": {
          "velocity": [
            1.3707377062450732,
            1.5554603299605674,
            -0.5389253297569674,
            -2.1539557473460036,
            -1.804186898876181,
            1.444277369433422,
            1.6686519152475654
          ],
          "torque": [
            -16.2890625,
            15.10986328125,
            -18.06640625,
            -4.84619140625,
            -5.1434326171875,
            -0.4119873046875,
            0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.105925333966141,
            -3.2196180040031663,
            -0.48015333317885656,
            10.877806052056016,
            -6.474820012754456,
            1.258066696868454,
            7.211506122384748
          ],
          "torque": [
            40.1953125,
            0.41015625,
            7.958984375,
            -0.67138671875,
            1.2432861328125,
            3.22265625,
            0.76171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.8,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.8,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -16.0,
            -2.8,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.0,
            -2.8,
            0.9,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -301,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 36,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4492225033250162,
          -0.3016723320617175,
          -0.13323206610501678,
          -1.3219198200606246,
          -0.05332969643304361,
          -0.6477345845659335,
          0.2745950513220668
        ],
        "act_joint_pos_r": [
          -0.38997392922324486,
          -0.879255228135733,
          0.13941828416001123,
          -0.685530885054863,
          0.14375404436953373,
          0.8264695926135001,
          -0.6049105948869659
        ],
        "act_eef_pose_l": [
          459.99108750798234,
          397.2686907697837,
          66.22203144788779,
          1.7595786763919423,
          0.006468593932077535,
          0.8607846443802629
        ],
        "act_eef_pose_r": [
          599.1502644042034,
          -294.7691481268787,
          48.45934334691992,
          1.6004632510148227,
          0.21753622790712043,
          2.3596086104278142
        ],
        "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": [
          0.4377997157085857,
          -0.31498216771785964,
          -0.128573746705812,
          -1.3037994465335843,
          -0.03798907711095843,
          -0.6610983251563892,
          0.25935508281805686
        ],
        "joint_pos_r": [
          -0.4020679347916821,
          -0.8385434261255547,
          0.1445765953832156,
          -0.7924110306395551,
          0.2093022373095748,
          0.8086154529053124,
          -0.6806715306251201
        ],
        "eef_pose_l": [
          463.3770425172001,
          395.5427478182467,
          66.53942477821644,
          1.7610350856977877,
          0.007337147302995167,
          0.8508246357060639
        ],
        "eef_pose_r": [
          585.9392568784282,
          -285.9100570839037,
          60.410694609096396,
          1.5466130707944545,
          0.2368378232659845,
          2.3742949602249728
        ],
        "joint_status_l": {
          "velocity": [
            1.2336246787594263,
            1.437419856431088,
            -0.5030836574546615,
            -1.9569426239822718,
            -1.6567380239090879,
            1.4432414176397401,
            1.6458680561495243
          ],
          "torque": [
            -16.50146484375,
            15.7763671875,
            -17.742919921875,
            -4.7607421875,
            -4.969482421875,
            -0.289306640625,
            0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3061140796160053,
            -4.396744942038566,
            -0.5570811818749188,
            11.54271528895734,
            -7.078996053696329,
            1.9281902195533718,
            8.181939746307876
          ],
          "torque": [
            42.65625,
            -1.4794921875,
            8.587646484375,
            2.7099609375,
            1.2066650390625,
            3.5687255859375,
            0.6903076171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.7,
            -6.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -6.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -17.6,
            -1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -17.6,
            -1.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -353,
          "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": [
          0.44663125511495133,
          -0.30122643492570716,
          -0.13349458321430283,
          -1.3240235283686228,
          -0.04606659766420758,
          -0.647862072963204,
          0.2667937399105756
        ],
        "act_joint_pos_r": [
          -0.39292268896838234,
          -0.8905639944632483,
          0.13831271854055038,
          -0.6638933809836037,
          0.1392119667062719,
          0.8358102730099364,
          -0.5969783420447206
        ],
        "act_eef_pose_l": [
          459.7798875079824,
          396.5750907697836,
          66.83963144788783,
          1.7611911523474333,
          0.007188654338399429,
          0.8583159400073282
        ],
        "act_eef_pose_r": [
          600.5278644042035,
          -294.2451481268787,
          44.369743346919904,
          1.6064058337655478,
          0.21015272965910214,
          2.360875777879268
        ],
        "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": [
          0.4395616215616117,
          -0.3125845256291955,
          -0.12942348805553078,
          -1.3072125266843952,
          -0.039979001983338466,
          -0.6587481841305202,
          0.26127367834997073
        ],
        "joint_pos_r": [
          -0.4001144656797805,
          -0.8475155793815392,
          0.14347672815082527,
          -0.7697650830595528,
          0.1963986575111274,
          0.8130445760725429,
          -0.66545480682017
        ],
        "eef_pose_l": [
          462.75917693554936,
          395.78193182065166,
          66.54299208687436,
          1.7609119132593893,
          0.007256030773823702,
          0.8523408050222423
        ],
        "eef_pose_r": [
          588.7340270915505,
          -287.49736286829267,
          57.67893675737449,
          1.557248789154766,
          0.23260286838219152,
          2.371967419067199
        ],
        "joint_status_l": {
          "velocity": [
            0.7634979055932689,
            1.226637618234161,
            -0.4396653099121295,
            -1.8155346355630542,
            -0.6574409433497408,
            1.1756653316750132,
            0.5961490660684188
          ],
          "torque": [
            -16.58203125,
            16.11328125,
            -17.816162109375,
            -4.3701171875,
            -5.123291015625,
            -0.6207275390625,
            0.57861328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7766889776141817,
            -4.649091711193876,
            -0.5576965895282004,
            11.43380660210358,
            -6.175980456117669,
            2.458622756035922,
            7.395240084801635
          ],
          "torque": [
            44.45068359375,
            2.93701171875,
            8.770751953125,
            -0.665283203125,
            1.53076171875,
            3.3929443359375,
            0.97503662109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.2,
            -17.3,
            -1.4,
            1.0,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            1.2,
            -17.3,
            -1.4,
            1.0,
            0.4,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -379,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44557717092326177,
          -0.3019118891976086,
          -0.13318736347555243,
          -1.321213851788255,
          -0.043639877921448515,
          -0.6515331597376699,
          0.2644051019154382
        ],
        "act_joint_pos_r": [
          -0.39375651149650365,
          -0.8932577458424384,
          0.13811892411294485,
          -0.6593259790896201,
          0.13926951127330822,
          0.8356936705251267,
          -0.595180323419515
        ],
        "act_eef_pose_l": [
          459.8414875079824,
          396.7342907697837,
          66.90123144788782,
          1.7615604391605066,
          0.007452272391176208,
          0.8565538826061809
        ],
        "act_eef_pose_r": [
          601.1110644042035,
          -294.2619481268787,
          43.36574334691977,
          1.6077822193542244,
          0.2076294924165261,
          2.3591886120653784
        ],
        "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": [
          0.4406926463719426,
          -0.3106536683008151,
          -0.13010862436253876,
          -1.3098678012740723,
          -0.04078150217087327,
          -0.6572376839530322,
          0.2619801309857102
        ],
        "joint_pos_r": [
          -0.39910572563886654,
          -0.8543180517985766,
          0.14267358106344985,
          -0.7532399813323692,
          0.18772372251744457,
          0.8164886991179269,
          -0.6548815756411263
        ],
        "eef_pose_l": [
          462.24013472051047,
          395.9427656373644,
          66.60049521290819,
          1.760994276424657,
          0.007276975196744751,
          0.8532007326701309
        ],
        "eef_pose_r": [
          590.6831476406827,
          -288.51307829406585,
          55.553049340727455,
          1.5647051271088022,
          0.22909324421573243,
          2.370306080049594
        ],
        "joint_status_l": {
          "velocity": [
            0.527513093375287,
            0.9440842988683862,
            -0.33249401781854093,
            -1.225337316137498,
            -0.3086954765756933,
            0.6160704452327082,
            0.2618891364032372
          ],
          "torque": [
            -17.197265625,
            16.34765625,
            -17.681884765625,
            -4.296875,
            -4.998779296875,
            -0.5072021484375,
            0.62713623046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5776980890805916,
            -4.205362926187561,
            -0.49188844318037717,
            10.142413107732118,
            -5.232900478217228,
            2.0740757403832077,
            6.447545079756978
          ],
          "torque": [
            44.58984375,
            1.75048828125,
            8.306884765625,
            -0.0244140625,
            1.4520263671875,
            3.460693359375,
            0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.7,
            -6.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.7,
            -6.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -16.9,
            -2.7,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.9,
            -2.7,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "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": [
          0.4466746712010712,
          -0.30278345846794286,
          -0.13279268012750425,
          -1.3179184967001845,
          -0.04733443536699281,
          -0.6541243861426871,
          0.2676563309673406
        ],
        "act_joint_pos_r": [
          -0.39842988647705063,
          -0.8988906558779194,
          0.1377640431986888,
          -0.6549228943485765,
          0.15695198299986046,
          0.8232879382647839,
          -0.6073198908072673
        ],
        "act_eef_pose_l": [
          460.02148750798233,
          397.2206907697837,
          66.55323144788764,
          1.7604124912781494,
          0.007975013723852809,
          0.856920591364139
        ],
        "act_eef_pose_r": [
          603.5126644042035,
          -294.7115481268787,
          41.402543346919856,
          1.603844070157615,
          0.20425135618822457,
          2.343065932609001
        ],
        "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": [
          0.4416945802457692,
          -0.30921788491898533,
          -0.1306032326475805,
          -1.3114585920858999,
          -0.041752481505431635,
          -0.6565556269136843,
          0.2628186116991102
        ],
        "joint_pos_r": [
          -0.39862771660322016,
          -0.8612033432112138,
          0.14189433745028193,
          -0.7374227946358776,
          0.1812767504287499,
          0.8185804298858048,
          -0.6461095853706438
        ],
        "eef_pose_l": [
          461.83886074045154,
          396.1453086911727,
          66.60844005768692,
          1.7609449391711012,
          0.007376214713868161,
          0.8538401555416718
        ],
        "eef_pose_r": [
          592.6956245740106,
          -289.4935434303724,
          53.36947930437648,
          1.5713772613279533,
          0.2253154333460241,
          2.367235884025417
        ],
        "joint_status_l": {
          "velocity": [
            0.5378339606076921,
            0.6948975618046305,
            -0.23645335401278889,
            -0.6976491222818737,
            -0.6028332374326539,
            0.26256625929033106,
            0.5224582718856841
          ],
          "torque": [
            -17.81982421875,
            16.57470703125,
            -17.327880859375,
            -4.510498046875,
            -4.9273681640625,
            -0.4852294921875,
            0.54840087890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.02136502349880942,
            -4.070109726534099,
            -0.4460586233760999,
            8.909726452693612,
            -2.6269974031731813,
            0.5083959105940394,
            4.189163460073253
          ],
          "torque": [
            41.02294921875,
            0.38818359375,
            7.757568359375,
            -0.030517578125,
            1.7413330078125,
            2.7777099609375,
            0.699462890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.3,
            -2.6,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.3,
            -2.6,
            0.9,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.445765072120654,
          -0.3050679232111832,
          -0.13193538401748314,
          -1.3139122705191593,
          -0.04551949884573051,
          -0.6577155323741464,
          0.265490992695533
        ],
        "act_joint_pos_r": [
          -0.4088736299341024,
          -0.899140595781739,
          0.13801590819596923,
          -0.6646158426674281,
          0.2136162235943524,
          0.7966476784811446,
          -0.6641799479423857
        ],
        "act_eef_pose_l": [
          460.42628750798235,
          397.0814907697836,
          66.21083144788787,
          1.7608849192833795,
          0.009060502728476217,
          0.8550010360341253
        ],
        "act_eef_pose_r": [
          606.3254644042034,
          -297.0019481268787,
          41.29454334691991,
          1.581567870788209,
          0.21430127009760427,
          2.306919951308236
        ],
        "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": [
          0.4423986547356743,
          -0.30844798738712803,
          -0.13085512967492915,
          -1.312015698776926,
          -0.04244140727178848,
          -0.6566085046822866,
          0.263341030539079
        ],
        "joint_pos_r": [
          -0.3996315276348817,
          -0.867891637250586,
          0.14118911850631538,
          -0.7238002297600837,
          0.1826120472325644,
          0.8167629781006852,
          -0.6449068383825827
        ],
        "eef_pose_l": [
          461.59109576674854,
          396.30492797758984,
          66.55539445967554,
          1.7609159719434697,
          0.007612821085822692,
          0.8541043536769651
        ],
        "eef_pose_r": [
          594.9788588270154,
          -290.6333704227858,
          51.253201635486334,
          1.5747850150537734,
          0.22251287459076086,
          2.3593922120890527
        ],
        "joint_status_l": {
          "velocity": [
            0.36356235487877697,
            0.36503616483596346,
            -0.11666402817422927,
            -0.20482370720742438,
            -0.33242408566142023,
            -0.1195554646207242,
            0.2321890648464553
          ],
          "torque": [
            -16.97021484375,
            17.16796875,
            -17.242431640625,
            -4.736328125,
            -4.7589111328125,
            -1.9866943359375,
            0.5584716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.998117610410354,
            -3.374787987312722,
            -0.34269660622121556,
            6.3917252921470435,
            3.348352292700918,
            -2.172388287743132,
            -2.0814344438306875
          ],
          "torque": [
            30.22705078125,
            2.73193359375,
            7.647705078125,
            0.286865234375,
            4.4732666015625,
            1.61865234375,
            -0.2783203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -16.8,
            -0.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.8,
            -0.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -333,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 85,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44549943291032634,
          -0.3043550751242273,
          -0.13259918108487162,
          -1.3240139892835556,
          -0.04565705449818466,
          -0.64769458025693,
          0.2650492697117109
        ],
        "act_joint_pos_r": [
          -0.41060298444232807,
          -0.9006730251046672,
          0.13781242048608444,
          -0.6581149322682548,
          0.2340154457149759,
          0.7921456067598233,
          -0.6787395751719492
        ],
        "act_eef_pose_l": [
          460.32708750798236,
          395.0806907697837,
          66.72123144788776,
          1.7605433985470407,
          0.00921806786268246,
          0.8557425582045389
        ],
        "act_eef_pose_r": [
          608.2758644042035,
          -300.0363481268787,
          41.848943346919896,
          1.573275670527106,
          0.21413474224192036,
          2.290037377835803
        ],
        "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": [
          0.44292210257537984,
          -0.3078118808094276,
          -0.13110762318607236,
          -1.313467392792051,
          -0.04296295333948292,
          -0.6556597023427836,
          0.26364462902223695
        ],
        "joint_pos_r": [
          -0.40157377290314406,
          -0.8739717727463887,
          0.14056630197030331,
          -0.7118786050144223,
          0.190774891988266,
          0.812452414132338,
          -0.650193120161224
        ],
        "eef_pose_l": [
          461.38919544759483,
          396.20707605477946,
          66.55602121326237,
          1.760869647384023,
          0.007868041813734808,
          0.8543356642035923
        ],
        "eef_pose_r": [
          597.4337617988704,
          -292.1506630597623,
          49.46949070116946,
          1.5749141295586828,
          0.22085658091280105,
          2.3475373466731537
        ],
        "joint_status_l": {
          "velocity": [
            0.27834346687249933,
            0.373324003398956,
            -0.16108350216625933,
            -1.1389988281074181,
            -0.290954343900085,
            0.8602078147985637,
            0.15169672040737936
          ],
          "torque": [
            -16.48681640625,
            16.12060546875,
            -17.37060546875,
            -4.8583984375,
            -4.676513671875,
            -0.5584716796875,
            0.56396484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9751260864252487,
            -2.8836502059776947,
            -0.2974104286439516,
            5.806305408762924,
            4.669842072854813,
            -2.1930705150738916,
            -3.0829262151099712
          ],
          "torque": [
            29.46533203125,
            2.98095703125,
            8.154296875,
            0.079345703125,
            5.072021484375,
            1.1279296875,
            -0.67474365234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.2,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.2,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.7,
            -17.4,
            -1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -17.4,
            -1.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -402,
          "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": [
          0.44672327515714116,
          -0.30234219197850953,
          -0.13325875411984855,
          -1.3250086075849374,
          -0.048314584189213354,
          -0.6481045435893719,
          0.26707290614705026
        ],
        "act_joint_pos_r": [
          -0.41133849302808473,
          -0.9044948205953348,
          0.13734772109326632,
          -0.6456961306560255,
          0.23254751997754441,
          0.7979892937505942,
          -0.6764370399625302
        ],
        "act_eef_pose_l": [
          459.83588750798236,
          395.64069076978365,
          66.95483144788778,
          1.759556516831448,
          0.009383586301736108,
          0.8567494546441361
        ],
        "act_eef_pose_r": [
          609.0110644042035,
          -301.3851481268787,
          40.46974334691981,
          1.575234962431441,
          0.21335819186586913,
          2.288095265142629
        ],
        "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": [
          0.4434675333798848,
          -0.30704338624589556,
          -0.1314184329141762,
          -1.315300133980329,
          -0.04367018273524617,
          -0.6543910505046932,
          0.26407682680925415
        ],
        "joint_pos_r": [
          -0.4030175203601551,
          -0.8784050273206017,
          0.14010205487291982,
          -0.7024823050398148,
          0.1971925880490723,
          0.8099511840630126,
          -0.6542973096364197
        ],
        "eef_pose_l": [
          461.1664995314096,
          396.0779872226282,
          66.60630677055738,
          1.7607133163036854,
          0.008105108999345382,
          0.85466743575937
        ],
        "eef_pose_r": [
          599.2195981457875,
          -293.45989755783546,
          48.19669152609501,
          1.5747209472120371,
          0.21968459490167483,
          2.338603769071534
        ],
        "joint_status_l": {
          "velocity": [
            0.35160974176839943,
            0.5077140066536145,
            -0.19874882842929598,
            -1.0484842259064209,
            -0.5015805637004767,
            0.6789227230994399,
            0.3235670253824985
          ],
          "torque": [
            -16.88232421875,
            15.98876953125,
            -17.669677734375,
            -4.296875,
            -4.7113037109375,
            -0.47607421875,
            0.59234619140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8986385442089073,
            -2.8176145725717916,
            -0.2974592751101568,
            6.132725958365448,
            3.818220035894493,
            -1.2918460527782116,
            -2.3910203558443754
          ],
          "torque": [
            28.5498046875,
            1.75048828125,
            7.89794921875,
            -0.482177734375,
            4.91455078125,
            1.483154296875,
            -0.7452392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.4,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.4,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.4,
            -0.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.4,
            -0.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "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": [
          0.4490845494484974,
          -0.3010723708640538,
          -0.1334540405937771,
          -1.3205490996832143,
          -0.05247821970860179,
          -0.6522849547880563,
          0.27136566866742695
        ],
        "act_joint_pos_r": [
          -0.4153958113015781,
          -0.903839031024704,
          0.13748649581175099,
          -0.6495427246203094,
          0.22485241312526938,
          0.7877464248867599,
          -0.6668811353540014
        ],
        "act_eef_pose_l": [
          459.5486875079824,
          397.3782907697837,
          66.48843144788776,
          1.759006580768765,
          0.009148609116683689,
          0.8586919264062646
        ],
        "act_eef_pose_r": [
          608.6934644042035,
          -301.40514812687877,
          36.45214334691991,
          1.5869320018265167,
          0.20610747789959982,
          2.286740156608201
        ],
        "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": [
          0.4443805611353073,
          -0.30599466117680657,
          -0.13179093219611523,
          -1.316573400631526,
          -0.04507285531573872,
          -0.6537294901954595,
          0.2651841781978813
        ],
        "joint_pos_r": [
          -0.4048923002671031,
          -0.8829526938654279,
          0.13962886876055414,
          -0.692824634257054,
          0.20267824187865,
          0.8068174122633749,
          -0.6572613200964711
        ],
        "eef_pose_l": [
          460.87894298942194,
          396.21454174264653,
          66.61280259370835,
          1.7604206091122288,
          0.00831800767988045,
          0.8553045493930543
        ],
        "eef_pose_r": [
          600.9855508254249,
          -294.84494033706073,
          46.45081113964733,
          1.5758525926625526,
          0.21775361861558548,
          2.32952321849493
        ],
        "joint_status_l": {
          "velocity": [
            0.5080157547006081,
            0.5315916753190209,
            -0.1796104096215556,
            -0.4293628342022515,
            -0.7997557668936728,
            0.15600522287151364,
            0.6675812814533888
          ],
          "torque": [
            -16.16455078125,
            15.3662109375,
            -17.767333984375,
            -4.168701171875,
            -4.87060546875,
            -0.52734375,
            0.61614990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1343457359838105,
            -2.2556578861285814,
            -0.23136945459345526,
            4.674308379412295,
            2.3947398655577157,
            -2.0596058918460614,
            -1.038909406818611
          ],
          "torque": [
            26.7626953125,
            1.9921875,
            7.733154296875,
            -0.57373046875,
            4.5867919921875,
            1.007080078125,
            -0.61065673828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -16.6,
            -1.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.6,
            -1.3,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -339,
          "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": [
          0.4483924573682269,
          -0.30131388343295895,
          -0.1333456948436141,
          -1.3196723675606261,
          -0.050412700311549416,
          -0.6537745189383906,
          0.2698940815505146
        ],
        "act_joint_pos_r": [
          -0.4175292539932678,
          -0.9024580622648408,
          0.13765526685335364,
          -0.6532035154698856,
          0.1986515876363466,
          0.7802505991623059,
          -0.6473804895455746
        ],
        "act_eef_pose_l": [
          459.5334875079824,
          397.34629076978365,
          66.53483144788794,
          1.7595133622974957,
          0.008800768229983207,
          0.8575180027686617
        ],
        "act_eef_pose_r": [
          607.5502644042035,
          -300.7715481268787,
          31.50814334691995,
          1.6080189289038833,
          0.2033794489597066,
          2.294472456643314
        ],
        "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": [
          0.4450666562440463,
          -0.30521589543392297,
          -0.13205068554305135,
          -1.3171164997270908,
          -0.046029962385461275,
          -0.6536797327426184,
          0.26601493446788677
        ],
        "joint_pos_r": [
          -0.4069901530175704,
          -0.8864897414525374,
          0.13926912381313675,
          -0.6855851227379449,
          0.20364224665160902,
          0.8025996512278545,
          -0.6567616763781452
        ],
        "eef_pose_l": [
          460.65829250441715,
          396.4020410679662,
          66.59752739654652,
          1.7602505253004048,
          0.008412175714262785,
          0.855712692022889
        ],
        "eef_pose_r": [
          602.2739803856791,
          -295.91768437112836,
          44.13561219604759,
          1.5801380879153624,
          0.2152853666051558,
          2.3228468653002734
        ],
        "joint_status_l": {
          "velocity": [
            0.35917592808365484,
            0.42140486743225125,
            -0.13985687960260673,
            -0.27602558508199593,
            -0.47332173613912065,
            -0.010236607230318384,
            0.41893552908089937
          ],
          "torque": [
            -16.17919921875,
            15.38818359375,
            -17.852783203125,
            -4.40673828125,
            -4.7076416015625,
            -1.4263916015625,
            0.71044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.138189336275186,
            -1.7245277855000296,
            -0.1742914112061733,
            3.4971104431908984,
            -0.5389752774223044,
            -2.4136264369722937,
            1.0131382970008929
          ],
          "torque": [
            26.630859375,
            0.52734375,
            7.89794921875,
            -0.238037109375,
            2.6348876953125,
            1.03271484375,
            0.33782958984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.0,
            -7.2,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.0,
            -7.2,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -16.5,
            -1.9,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.5,
            -1.9,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "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": [
          0.4465756003952436,
          -0.30000560630422163,
          -0.13398913212595506,
          -1.3249184574365567,
          -0.04794268506703321,
          -0.6484468518934714,
          0.26800580238553895
        ],
        "act_joint_pos_r": [
          -0.4150595858354853,
          -0.9094790725850793,
          0.13700784202814895,
          -0.6401712542382461,
          0.16225647585850922,
          0.7919653264992055,
          -0.6191372172751863
        ],
        "act_eef_pose_l": [
          459.54628750798236,
          396.75349076978364,
          67.45163144788768,
          1.7595910324660728,
          0.007062353904781782,
          0.8584222576568517
        ],
        "act_eef_pose_r": [
          606.8878644042035,
          -298.0627481268787,
          27.772143346919847,
          1.6276397874295374,
          0.2015086146918707,
          2.3140467578017434
        ],
        "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": [
          0.4454083831679828,
          -0.3044267931738308,
          -0.13233618631211508,
          -1.31812865607213,
          -0.046471740566980106,
          -0.6530941261601162,
          0.26643956940496927
        ],
        "joint_pos_r": [
          -0.40857487034456075,
          -0.8901053454446499,
          0.13891072308981503,
          -0.6783891851896995,
          0.19865292901341766,
          0.7999700738415871,
          -0.6519159530959883
        ],
        "eef_pose_l": [
          460.47505198652374,
          396.49081735090715,
          66.69038421688975,
          1.760136905959264,
          0.008280519474122373,
          0.8561117032314739
        ],
        "eef_pose_r": [
          603.1756447618741,
          -296.4511376203513,
          41.48155291905988,
          1.5872802355300655,
          0.2129263191616433,
          2.3201341828569606
        ],
        "joint_status_l": {
          "velocity": [
            0.1260557427289477,
            0.47747409957210607,
            -0.17851288293868617,
            -0.7332769205117273,
            -0.15885732075948678,
            0.5018908183194171,
            0.16914817314273023
          ],
          "torque": [
            -16.07666015625,
            16.2890625,
            -18.212890625,
            -4.2236328125,
            -4.7222900390625,
            -0.4705810546875,
            0.66375732421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.700328617931234,
            -2.092300822051918,
            -0.2055050936112801,
            4.12741481116452,
            -3.93070101090065,
            -0.8644872162895112,
            3.5399990619549015
          ],
          "torque": [
            27.22412109375,
            0.94482421875,
            7.1044921875,
            -1.812744140625,
            1.45751953125,
            1.2579345703125,
            0.74432373046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -16.8,
            -1.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -1.9,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "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": [
          0.44323297591478733,
          -0.3007069910427138,
          -0.13369991322929584,
          -1.3232415410888891,
          -0.040108308156931546,
          -0.6519788227266458,
          0.2604330755179012
        ],
        "act_joint_pos_r": [
          -0.4160466617639367,
          -0.9123039984287177,
          0.1369882224905915,
          -0.6449159993035766,
          0.1564555235906395,
          0.7900561887621842,
          -0.6173610748277659
        ],
        "act_eef_pose_l": [
          459.61988750798236,
          396.4342907697836,
          67.99883144788788,
          1.7611410837603256,
          0.007064448107828577,
          0.8550180832869022
        ],
        "act_eef_pose_r": [
          606.3126644042035,
          -294.5379481268787,
          26.55694334691998,
          1.630821320334575,
          0.20147882751305898,
          2.3217894403003063
        ],
        "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": [
          0.445267793414722,
          -0.3037697340467541,
          -0.1325791556788781,
          -1.3190780729263232,
          -0.045934309094460474,
          -0.6526814441393654,
          0.2659438279887918
        ],
        "joint_pos_r": [
          -0.4094632552230712,
          -0.8927505378895411,
          0.13866950414888726,
          -0.6739150003401317,
          0.19364792670529773,
          0.7988236496711386,
          -0.6476570575622504
        ],
        "eef_pose_l": [
          460.3299375379297,
          396.5023620936753,
          66.87006130157405,
          1.7602005771190459,
          0.008081573258118178,
          0.8561520112033367
        ],
        "eef_pose_r": [
          603.6255613259644,
          -296.3875503311191,
          39.66461634807399,
          1.5926045813295795,
          0.2114797320435811,
          2.320005005243256
        ],
        "joint_status_l": {
          "velocity": [
            -0.2197538087012063,
            0.33076648900021155,
            -0.12103824561282561,
            -0.4496413000953936,
            0.6291895442994688,
            0.07588087458643145,
            -0.5951437140307991
          ],
          "torque": [
            -23.10791015625,
            15.46142578125,
            -17.73681640625,
            -4.35791015625,
            -1.973876953125,
            -0.5035400390625,
            -0.1739501953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.710986936974578,
            -2.111711456630694,
            -0.1815730638847768,
            3.1317997444517687,
            -4.016661071297278,
            -0.9468578520879234,
            3.2718696366877964
          ],
          "torque": [
            28.46923828125,
            1.54541015625,
            7.806396484375,
            0.03662109375,
            1.7962646484375,
            1.2396240234375,
            0.7470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.6,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.6,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -17.4,
            -1.1,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.4,
            -1.1,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -335,
          "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": [
          0.4401477703482438,
          -0.30273240464929213,
          -0.1328776230638047,
          -1.318705755697894,
          -0.03512075869141312,
          -0.6573428835284555,
          0.25632592414161653
        ],
        "act_joint_pos_r": [
          -0.41428226794545386,
          -0.9158855173093219,
          0.13668700012405066,
          -0.6391528456522937,
          0.14813663454355952,
          0.7994980150584223,
          -0.6128781048740654
        ],
        "act_eef_pose_l": [
          460.05268750798234,
          396.3246907697836,
          68.37403144788783,
          1.761564698839394,
          0.006379298264571348,
          0.8515605182243525
        ],
        "act_eef_pose_r": [
          605.9814644042035,
          -292.7811481268787,
          26.620143346919804,
          1.632255503719748,
          0.20326463493976082,
          2.331123203641435
        ],
        "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": [
          0.4447624952280569,
          -0.3034900338235697,
          -0.1326756578384406,
          -1.3193297770733379,
          -0.044764855758387706,
          -0.6529705345289555,
          0.26488167395543455
        ],
        "joint_pos_r": [
          -0.4106115777594511,
          -0.8970386642459485,
          0.13830146400974577,
          -0.6675105293060739,
          0.18534168611591859,
          0.7979997859241676,
          -0.6411191178724734
        ],
        "eef_pose_l": [
          460.2628121415405,
          396.48451738385734,
          67.05482802648004,
          1.7603577982895868,
          0.007890722410535041,
          0.8557427642596551
        ],
        "eef_pose_r": [
          604.1602396130536,
          -295.8264616144666,
          37.03633540055961,
          1.600423144492659,
          0.20967298924059377,
          2.3213829748432544
        ],
        "joint_status_l": {
          "velocity": [
            -0.49837558821774763,
            0.08182153762481548,
            -0.021811601040422346,
            0.06739232091668157,
            1.0415317648959088,
            -0.4721997651584431,
            -0.9239937281539934
          ],
          "torque": [
            -24.755859375,
            15.50537109375,
            -13.04931640625,
            -1.171875,
            -1.45751953125,
            -1.658935546875,
            -0.46600341796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.39642284822116736,
            -2.035400099926754,
            -0.17435695727152645,
            3.062539509834039,
            -4.01802706444121,
            0.1618039743460642,
            3.0499394506726674
          ],
          "torque": [
            29.443359375,
            -0.24169921875,
            7.574462890625,
            -1.300048828125,
            1.7010498046875,
            2.7227783203125,
            0.933837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.4,
            -5.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.4,
            -5.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.2,
            -1.1,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.2,
            -1.1,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -318,
          "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": [
          0.4389731499725862,
          -0.3035505397897085,
          -0.13254905494726713,
          -1.3168936660922959,
          -0.03337603328004143,
          -0.6596441841488595,
          0.25526660824801434
        ],
        "act_joint_pos_r": [
          -0.413392122402938,
          -0.9181047983750512,
          0.13653924499635625,
          -0.63700175904167,
          0.14446367511955893,
          0.8031132395869962,
          -0.611240237484386
        ],
        "act_eef_pose_l": [
          460.20708750798235,
          396.2550907697836,
          68.53243144788786,
          1.761602170217755,
          0.005794226481248729,
          0.8499869935503764
        ],
        "act_eef_pose_r": [
          605.9110644042034,
          -291.5339481268787,
          26.675343346919817,
          1.6327887803966887,
          0.20423111442433314,
          2.3356997961341186
        ],
        "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": [
          0.44364723219207547,
          -0.30342101574575653,
          -0.13268159021224474,
          -1.318992409076428,
          -0.042514244871077606,
          -0.6541613208813954,
          0.26294017249405777
        ],
        "joint_pos_r": [
          -0.4111385711929775,
          -0.9003276038533831,
          0.13802336360029716,
          -0.6626639104444093,
          0.17890989387666187,
          0.7985565844688894,
          -0.6363357573958284
        ],
        "eef_pose_l": [
          460.2363601600798,
          396.4414392564101,
          67.35563061434897,
          1.7606075395404492,
          0.007500583608014493,
          0.8546703779094766
        ],
        "eef_pose_r": [
          604.4701506344672,
          -295.2105709056654,
          35.332839908664795,
          1.605672677835796,
          0.2087483343778852,
          2.3234224268164287
        ],
        "joint_status_l": {
          "velocity": [
            -0.5047859918381192,
            -0.013988184187407882,
            0.014313386466957567,
            0.22665755737882876,
            0.9868977448388438,
            -0.592131768892834,
            -0.8287204967682982
          ],
          "torque": [
            -26.3232421875,
            12.2900390625,
            -13.37890625,
            -0.653076171875,
            -1.13525390625,
            -2.493896484375,
            -0.5419921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2433763526736854,
            -1.9198803844950874,
            -0.1602800820172945,
            2.771430612519943,
            -3.720081907816253,
            0.4921042389165464,
            2.710236216291406
          ],
          "torque": [
            28.88671875,
            1.3037109375,
            7.611083984375,
            -0.35400390625,
            1.907958984375,
            2.9351806640625,
            0.86700439453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.0,
            -1.4,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.0,
            -1.4,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -326,
          "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": [
          0.4379255013261278,
          -0.30460525193074733,
          -0.13213128986103104,
          -1.3146469836655106,
          -0.03357585565077289,
          -0.66135522078967,
          0.2559515433159579
        ],
        "act_joint_pos_r": [
          -0.4120406424871348,
          -0.9250835872604314,
          0.13596067587521266,
          -0.6258329844510213,
          0.1395238942890571,
          0.8158692632504037,
          -0.6091974134102482
        ],
        "act_eef_pose_l": [
          460.5710875079824,
          396.34629076978365,
          68.75403144788794,
          1.7608547256330818,
          0.004948221087208967,
          0.8494197328897319
        ],
        "act_eef_pose_r": [
          606.0166644042035,
          -289.3019481268787,
          26.556143346919725,
          1.6320416039933605,
          0.20555510889941556,
          2.344813114610868
        ],
        "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": [
          0.44276061524252625,
          -0.30356132559030286,
          -0.13261266024097138,
          -1.3183938635295787,
          -0.04103451402372065,
          -0.6552557562375677,
          0.26175596432594417
        ],
        "joint_pos_r": [
          -0.41140259276854124,
          -0.9041649079493229,
          0.1377034114591793,
          -0.6570157219052061,
          0.17232817650938345,
          0.8006310198823192,
          -0.6316954685869711
        ],
        "eef_pose_l": [
          460.2734034077203,
          396.4203922183207,
          67.57538692964133,
          1.7606777376157323,
          0.007122593187795344,
          0.8538342016430844
        ],
        "eef_pose_r": [
          604.7537977646267,
          -294.3344563122955,
          33.798550565590375,
          1.6103325107736859,
          0.20815282829693874,
          2.3265173166096758
        ],
        "joint_status_l": {
          "velocity": [
            -0.5221769021868106,
            -0.11274071965816646,
            0.05198646777471172,
            0.404651090773811,
            0.805511346991139,
            -0.658722743637874,
            -0.6268589808613445
          ],
          "torque": [
            -28.0517578125,
            9.0673828125,
            -13.983154296875,
            -0.360107421875,
            -1.3623046875,
            -2.647705078125,
            -0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.06890733729481013,
            -2.259150735510751,
            -0.18820989211443262,
            3.36763632192838,
            -3.542757991733758,
            1.6456817469636675,
            2.4297182983756827
          ],
          "torque": [
            28.99658203125,
            1.66259765625,
            7.415771484375,
            -0.5126953125,
            1.6680908203125,
            2.984619140625,
            0.64910888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.7,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.7,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.3,
            -0.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.3,
            -0.3,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -335,
          "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": [
          0.4384795257382261,
          -0.3091669009513254,
          -0.1302286809726759,
          -1.3019867612214522,
          -0.0341389189005462,
          -0.6729455920084304,
          0.2571059192812033
        ],
        "act_joint_pos_r": [
          -0.4119596193895205,
          -0.9286752201736094,
          0.13573854157441637,
          -0.6230307480623489,
          0.13592378571719488,
          0.8239780855248742,
          -0.6094368448795101
        ],
        "act_eef_pose_l": [
          461.2182875079824,
          397.2246907697836,
          67.35003144788772,
          1.761308700283862,
          0.006386810244525727,
          0.8460442130049289
        ],
        "act_eef_pose_r": [
          605.3574644042035,
          -286.81154812687873,
          26.36574334691977,
          1.6312890459795852,
          0.2072348789398103,
          2.354023150300144
        ],
        "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": [
          0.4419682441322235,
          -0.3042606498980233,
          -0.13231285415229696,
          -1.3163027684252573,
          -0.03977929816536386,
          -0.657642083060087,
          0.2608599569367839
        ],
        "joint_pos_r": [
          -0.4114994261877783,
          -0.9079610837661043,
          0.13739481922346253,
          -0.6516107002834424,
          0.16657721997191646,
          0.803942661677811,
          -0.6280207083393967
        ],
        "eef_pose_l": [
          460.4013578881001,
          396.50626200721103,
          67.62649542409889,
          1.760747597182621,
          0.006895766885249812,
          0.8526729149855353
        ],
        "eef_pose_r": [
          604.9150983225252,
          -293.2580739011741,
          32.599779853570965,
          1.613750381346782,
          0.2079749271603989,
          2.3304330671218385
        ],
        "joint_status_l": {
          "velocity": [
            -0.376770474300514,
            -0.529859486386286,
            0.2250840648994057,
            1.5460831787255103,
            0.6091429948880123,
            -1.6527302217488327,
            -0.40542410945776375
          ],
          "torque": [
            -27.85400390625,
            6.7822265625,
            -10.919189453125,
            -0.10986328125,
            -1.435546875,
            -2.74658203125,
            -0.49530029296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.04969939998256123,
            -2.237060753429887,
            -0.17887271052841047,
            3.0865438071350226,
            -3.310473262320146,
            2.163761958734689,
            2.0069980604242588
          ],
          "torque": [
            31.86767578125,
            0.71044921875,
            7.6416015625,
            0.15869140625,
            1.7266845703125,
            3.387451171875,
            0.70220947265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.4,
            -5.0,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.4,
            -5.0,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -16.9,
            0.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.9,
            0.6,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "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": [
          0.43862018079339393,
          -0.30745339100145663,
          -0.13105439628944227,
          -1.309316740028004,
          -0.03625182823128953,
          -0.6652361657266117,
          0.25921318206050303
        ],
        "act_joint_pos_r": [
          -0.41205172111945165,
          -0.9326244005137143,
          0.13538069665764071,
          -0.614773652731941,
          0.13621847982604907,
          0.8348671966961112,
          -0.6126635832333704
        ],
        "act_eef_pose_l": [
          461.1022875079824,
          396.4414907697836,
          68.01243144788788,
          1.7601852865606449,
          0.005176112472772792,
          0.8482890203964467
        ],
        "act_eef_pose_r": [
          605.1278644042035,
          -285.8771481268787,
          26.316943346919743,
          1.6286019389311297,
          0.20983731921694937,
          2.3595310898448645
        ],
        "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": [
          0.44149343688313625,
          -0.3048190954523287,
          -0.13208267952161534,
          -1.3148412784956272,
          -0.0391476026339197,
          -0.6592134816802723,
          0.26049006488313764
        ],
        "joint_pos_r": [
          -0.4115899531319308,
          -0.9120163232498741,
          0.13706638229358567,
          -0.6457362307978047,
          0.16118674690202472,
          0.8085681807026224,
          -0.6250558732302306
        ],
        "eef_pose_l": [
          460.5077266106327,
          396.54969966345266,
          67.63622780676067,
          1.7607384323875477,
          0.0067355948654949935,
          0.8519137488253455
        ],
        "eef_pose_r": [
          604.9921537491349,
          -292.0257239622477,
          31.5044973300692,
          1.616500355379371,
          0.20818808742252365,
          2.335125926393955
        ],
        "joint_status_l": {
          "velocity": [
            -0.31030250580910135,
            -0.28449552855880356,
            0.1110513137912994,
            0.5966325577659859,
            0.3127344118756259,
            -0.6504306935761761,
            -0.1378992777227861
          ],
          "torque": [
            -29.27490234375,
            6.2548828125,
            -10.693359375,
            -0.030517578125,
            -1.5618896484375,
            -2.5616455078125,
            -0.47698974609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.049869471830721324,
            -2.225606703733618,
            -0.18204867944326963,
            3.343859809239902,
            -2.69649331538635,
            2.8402099597810704,
            1.3383278477911986
          ],
          "torque": [
            30.2490234375,
            1.23779296875,
            8.02001953125,
            -1.019287109375,
            1.92626953125,
            3.2684326171875,
            0.6097412109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.3,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.3,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.0,
            -0.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.0,
            -0.5,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "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": [
          0.43862356404925995,
          -0.3063691636451317,
          -0.13151660924244363,
          -1.3124910714086169,
          -0.035723441361438235,
          -0.663257769751511,
          0.25800867890685764
        ],
        "act_joint_pos_r": [
          -0.41228751421478854,
          -0.935694544122339,
          0.13516722509430798,
          -0.6110429891706531,
          0.13701886313886646,
          0.8391363612493064,
          -0.6148074597465626
        ],
        "act_eef_pose_l": [
          460.79588750798234,
          396.0462907697836,
          68.2908314478878,
          1.7601683942086568,
          0.005717614902255774,
          0.8482532209884198
        ],
        "act_eef_pose_r": [
          605.1622644042035,
          -284.7531481268787,
          26.172943346919965,
          1.626997200355837,
          0.21081192826212886,
          2.362349056608102
        ],
        "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": [
          0.44102133092060575,
          -0.3051739866668754,
          -0.13194696091594402,
          -1.3141619449792439,
          -0.03863345320988283,
          -0.6600609370404814,
          0.26019330451857414
        ],
        "joint_pos_r": [
          -0.4116950508022513,
          -0.9159653770186269,
          0.13674710590927408,
          -0.6398907154860646,
          0.15685175766368528,
          0.8136427011438466,
          -0.6230780532891884
        ],
        "eef_pose_l": [
          460.58367423512595,
          396.5033813763533,
          67.7182461365868,
          1.7606439525064066,
          0.006518151524558628,
          0.85131523312121
        ],
        "eef_pose_r": [
          605.04015247759,
          -290.8288116608291,
          30.582276124166498,
          1.6184103077297294,
          0.20864541616692184,
          2.3396910597979024
        ],
        "joint_status_l": {
          "velocity": [
            -0.2589511847483905,
            -0.1290753067788586,
            0.04647660998380321,
            0.18044902356884052,
            0.31427201067452115,
            -0.34524775025257526,
            -0.23593260760512713
          ],
          "torque": [
            -29.65576171875,
            6.29150390625,
            -14.703369140625,
            0.3662109375,
            -1.5472412109375,
            -2.54150390625,
            -0.50811767578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.06398416144159924,
            -2.1306872059412285,
            -0.17062209578666554,
            3.115462556408488,
            -2.1418894370281993,
            2.7532340890905616,
            0.8931977591437601
          ],
          "torque": [
            28.36669921875,
            1.640625,
            7.53173828125,
            -0.25634765625,
            1.695556640625,
            3.2684326171875,
            0.7196044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.7,
            -7.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.7,
            -7.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.1,
            -16.5,
            -0.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.5,
            -0.8,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -370,
          "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": [
          0.4393435048954605,
          -0.30557669363145745,
          -0.13185307032949944,
          -1.3147598244099132,
          -0.03506603720780224,
          -0.6621365578802548,
          0.2563855386192852
        ],
        "act_joint_pos_r": [
          -0.4135888951373965,
          -0.9409135936493223,
          0.13487454315171424,
          -0.607989261942123,
          0.1393010983423837,
          0.8441227933187915,
          -0.6194647070399191
        ],
        "act_eef_pose_l": [
          460.41908750798234,
          395.7246907697837,
          68.14603144788776,
          1.760784640230449,
          0.007162301456462696,
          0.8480286729030837
        ],
        "act_eef_pose_r": [
          604.9894644042034,
          -281.9747481268787,
          25.63294334692,
          1.6240662174556444,
          0.21186595916444126,
          2.3678138653460468
        ],
        "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": [
          0.4406396731372573,
          -0.30532109624117076,
          -0.1318990746628797,
          -1.314071749897384,
          -0.03801796423254168,
          -0.6605537353922498,
          0.25961888329618654
        ],
        "joint_pos_r": [
          -0.4119710506130857,
          -0.9203526347208973,
          0.13641156557390902,
          -0.6340525896182989,
          0.15339021641149705,
          0.8190903469141271,
          -0.6221015187425307
        ],
        "eef_pose_l": [
          460.586496559226,
          396.3848350321789,
          67.81222089898824,
          1.7606139238271754,
          0.0065106819794939225,
          0.8507138252900707
        ],
        "eef_pose_r": [
          605.0633190157613,
          -289.3332120091492,
          29.685670565954467,
          1.6196173624331796,
          0.20923673670528578,
          2.3446366977676742
        ],
        "joint_status_l": {
          "velocity": [
            -0.13998204156440153,
            -0.027603704022993725,
            0.004968321472342829,
            -0.07430985569989446,
            0.318798716206381,
            -0.17093978710480684,
            -0.3491909262696158
          ],
          "torque": [
            -29.18701171875,
            9.5654296875,
            -14.63623046875,
            -2.880859375,
            -1.431884765625,
            -2.4261474609375,
            -0.49530029296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1747220554739748,
            -2.2205180735896946,
            -0.16599352587975957,
            2.814756372225169,
            -1.5215798748648979,
            2.703424478459837,
            0.2847672651213884
          ],
          "torque": [
            29.36279296875,
            1.611328125,
            7.77587890625,
            -0.128173828125,
            1.834716796875,
            3.3636474609375,
            0.78643798828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -16.6,
            -2.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.6,
            -2.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -370,
          "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": [
          0.44185412159900456,
          -0.30729891594457565,
          -0.1309986126026884,
          -1.3069459419271874,
          -0.0378469618845244,
          -0.6698594204534918,
          0.2581719813825108
        ],
        "act_joint_pos_r": [
          -0.4146994916062723,
          -0.9493098215580453,
          0.13421703763945306,
          -0.5942328279489585,
          0.14165136935032896,
          0.8582440100078018,
          -0.6235069107863768
        ],
        "act_eef_pose_l": [
          460.3862875079824,
          396.7350907697836,
          66.8076314478879,
          1.7610975867995895,
          0.009846625414036086,
          0.8469873151969677
        ],
        "act_eef_pose_r": [
          605.0638644042035,
          -279.88674812687873,
          24.876943346919916,
          1.6199954547616098,
          0.21278861107922903,
          2.374307351708028
        ],
        "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": [
          0.4405724805206563,
          -0.3054631932288372,
          -0.1318418594100307,
          -1.3137308031054176,
          -0.037694280132228204,
          -0.6612627179129648,
          0.2591911463158949
        ],
        "joint_pos_r": [
          -0.41233240123894593,
          -0.924453877721037,
          0.13610241583049643,
          -0.6285864169560227,
          0.15127588615136697,
          0.8244183771780702,
          -0.6220152073348879
        ],
        "eef_pose_l": [
          460.55742999604917,
          396.33491254573306,
          67.78926708031057,
          1.760660016955163,
          0.006773859839285121,
          0.8502116543682091
        ],
        "eef_pose_r": [
          605.0796400545197,
          -287.94789861939995,
          28.955530666592978,
          1.619972496397241,
          0.20977640396439157,
          2.348986443670026
        ],
        "joint_status_l": {
          "velocity": [
            0.1384131541835032,
            -0.1982522061632075,
            0.09106796928681771,
            0.7327433961368257,
            -0.016489142926678912,
            -0.9284164921963267,
            -0.1100665665656475
          ],
          "torque": [
            -23.1298828125,
            5.859375,
            -10.41259765625,
            -0.250244140625,
            -2.6129150390625,
            -2.9864501953125,
            -0.5291748046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2556382200249452,
            -2.6843627633494904,
            -0.2036148393339543,
            3.7100781898562474,
            -1.0394171585417222,
            3.6530606043472247,
            -0.16109922139317945
          ],
          "torque": [
            28.8720703125,
            0.97412109375,
            7.6171875,
            -0.7080078125,
            1.8731689453125,
            3.2647705078125,
            -0.11627197265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.5,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.5,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.5,
            -2.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.5,
            -2.1,
            1.0,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -293,
          "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": [
          0.44178490715743124,
          -0.30833345419180497,
          -0.1306558795694909,
          -1.3060311049095257,
          -0.03681568655979313,
          -0.6705812642256268,
          0.2564510506383982
        ],
        "act_joint_pos_r": [
          -0.4159788322283529,
          -0.955688300873847,
          0.1337776896396237,
          -0.5859808812266829,
          0.1443525383511064,
          0.8680094573955347,
          -0.6302425491732966
        ],
        "act_eef_pose_l": [
          460.50468750798234,
          396.46309076978366,
          66.49083144788784,
          1.7617044828935213,
          0.011147731986204902,
          0.8462054120281879
        ],
        "act_eef_pose_r": [
          604.9278644042034,
          -277.6611481268787,
          24.30734334691988,
          1.6161828999906371,
          0.21601270925397204,
          2.380083595328713
        ],
        "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": [
          0.44079409495578353,
          -0.30586235645443044,
          -0.131668054634353,
          -1.3124652212602772,
          -0.03764691879548722,
          -0.6628347333926236,
          0.2588868672718
        ],
        "joint_pos_r": [
          -0.4129242334956398,
          -0.9298723383557792,
          0.13569643217561467,
          -0.6211611418688243,
          0.1497613031442116,
          0.831914636659812,
          -0.6230572630505967
        ],
        "eef_pose_l": [
          460.53648275579866,
          396.38601758073105,
          67.59265270600287,
          1.7607815732787517,
          0.007410546733934253,
          0.8495849113146657
        ],
        "eef_pose_r": [
          605.0922750700714,
          -286.17768380783593,
          28.117134137272615,
          1.6195330189768895,
          0.21072476415471703,
          2.35441408812379
        ],
        "joint_status_l": {
          "velocity": [
            0.10700456184720153,
            -0.26687068470598874,
            0.10931168302941163,
            0.6948640719599553,
            0.08977043381758198,
            -0.8366006557469774,
            -0.2630604378546231
          ],
          "torque": [
            -19.95849609375,
            5.0830078125,
            -9.97314453125,
            -0.091552734375,
            -1.58203125,
            -2.4371337890625,
            -0.5767822265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3298869336378907,
            -2.7880417230550236,
            -0.20721808231649597,
            3.7993560933333725,
            -0.5841293696806638,
            3.8981256703873868,
            -0.7759880147082399
          ],
          "torque": [
            28.32275390625,
            0.93017578125,
            7.281494140625,
            -0.885009765625,
            2.032470703125,
            3.6859130859375,
            -0.42938232421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.1,
            -6.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.1,
            -6.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -16.8,
            -1.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -1.4,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -364,
          "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": [
          0.44153080055438354,
          -0.3097498018854633,
          -0.13039489657420406,
          -1.309455451425862,
          -0.03365886153206324,
          -0.6676669786957833,
          0.25314769437896356
        ],
        "act_joint_pos_r": [
          -0.41723481426582865,
          -0.960258016629055,
          0.1334236634942883,
          -0.5776729863327904,
          0.14272793713380325,
          0.8744943607982774,
          -0.6305940880555662
        ],
        "act_eef_pose_l": [
          460.51188750798235,
          394.87429076978367,
          66.0756314478877,
          1.7631951571388627,
          0.01262121380453978,
          0.8440680857588638
        ],
        "act_eef_pose_r": [
          604.9262644042035,
          -276.86994812687874,
          22.93694334691986,
          1.6172210946681267,
          0.21622055866656703,
          2.3833092269166545
        ],
        "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": [
          0.44095957103652816,
          -0.3064511297903902,
          -0.13145430126798663,
          -1.3115430376393502,
          -0.037218658453977926,
          -0.664048819039507,
          0.2581426960220063
        ],
        "joint_pos_r": [
          -0.4136599469302186,
          -0.9353283959274347,
          0.13528910370856526,
          -0.6134637929801366,
          0.14853411101211764,
          0.8395551348000718,
          -0.6244598500848705
        ],
        "eef_pose_l": [
          460.5318840549128,
          396.26410561823303,
          67.34869967361416,
          1.7610835413239967,
          0.008242466257912848,
          0.8487617176261508
        ],
        "eef_pose_r": [
          605.0922620897892,
          -284.4732832591227,
          27.220207884755837,
          1.6190222116424526,
          0.211763053573163,
          2.359664634025919
        ],
        "joint_status_l": {
          "velocity": [
            0.061690968450545114,
            -0.3562460793511413,
            0.11441233251718863,
            0.2254526616862762,
            0.384446728916632,
            -0.3907497183304187,
            -0.5394442673904987
          ],
          "torque": [
            -19.6142578125,
            4.3359375,
            -10.052490234375,
            -0.189208984375,
            -1.468505859375,
            -2.43896484375,
            -0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3860742855934518,
            -2.692319630051898,
            -0.20146160134970614,
            3.865293117186752,
            -0.627048285057441,
            3.773325119530213,
            -0.6624781620860887
          ],
          "torque": [
            28.7548828125,
            1.0107421875,
            7.12890625,
            0.30517578125,
            2.0526123046875,
            3.262939453125,
            -0.56121826171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.5,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.5,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.0,
            -1.1,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.0,
            -1.1,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -314,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44446473096145567,
          -0.30823674430433406,
          -0.13088570271543054,
          -1.3105673502547501,
          -0.040383165286340325,
          -0.6660302921520156,
          0.25910438615753073
        ],
        "act_joint_pos_r": [
          -0.4180266211510095,
          -0.9640374133785471,
          0.13312020579540676,
          -0.570023322490975,
          0.14383493940201353,
          0.8812768964212272,
          -0.6319620343523937
        ],
        "act_eef_pose_l": [
          460.2094875079824,
          395.4982907697836,
          65.8076314478879,
          1.761542811862719,
          0.012938732563896091,
          0.8469283561518575
        ],
        "act_eef_pose_r": [
          604.9910644042035,
          -276.4059481268787,
          22.35054334691972,
          1.6158160466635134,
          0.21619417898173224,
          2.385285758610165
        ],
        "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": [
          0.44122396857105606,
          -0.30690549264777867,
          -0.13130866071651276,
          -1.3112644604038362,
          -0.03702419228874904,
          -0.6645485201095007,
          0.2576676831269192
        ],
        "joint_pos_r": [
          -0.4143369881725842,
          -0.9398531871065403,
          0.13494819101366373,
          -0.6067167416190122,
          0.1477045203660467,
          0.8460643410775865,
          -0.6256226531213809
        ],
        "eef_pose_l": [
          460.5115246306923,
          396.07180795267567,
          67.12379159648535,
          1.7613346058153274,
          0.008980103380335318,
          0.8481552458595113
        ],
        "eef_pose_r": [
          605.0979450326031,
          -283.17573107207795,
          26.445909556908845,
          1.6185632334628866,
          0.21249968248205325,
          2.363769388946536
        ],
        "joint_status_l": {
          "velocity": [
            0.34999201570018457,
            -0.1437709386107322,
            0.04567811691291723,
            0.07528567566872368,
            -0.36275838475319233,
            -0.1600266608576817,
            0.15515935112553336
          ],
          "torque": [
            -18.62548828125,
            5.2294921875,
            -13.201904296875,
            0.0732421875,
            -3.0084228515625,
            -2.3236083984375,
            -0.5364990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.39846860946601836,
            -2.611819405879956,
            -0.19741658108096694,
            3.962772390104341,
            -0.41790241874251066,
            3.8028438182298174,
            -0.6846329807785878
          ],
          "torque": [
            29.384765625,
            0.4248046875,
            7.354736328125,
            -0.103759765625,
            2.0635986328125,
            3.2464599609375,
            -0.70037841796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.3,
            -1.1,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.3,
            -1.1,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4456505878767514,
          -0.30792229923867953,
          -0.13093082814485768,
          -1.3094728091468488,
          -0.04262680274025844,
          -0.6668909078922153,
          0.2611870730679566
        ],
        "act_joint_pos_r": [
          -0.4189402323359195,
          -0.9650952992237137,
          0.133087370133452,
          -0.5699825517127779,
          0.14565489054186243,
          0.88243819136551,
          -0.6336236621993051
        ],
        "act_eef_pose_l": [
          460.1118875079824,
          395.96309076978366,
          65.55083144788779,
          1.761173713378486,
          0.013148931529898327,
          0.8477445513789583
        ],
        "act_eef_pose_r": [
          604.7998644042035,
          -275.6683481268787,
          22.11854334691975,
          1.6143894435306498,
          0.21574334537993864,
          2.3864346453676966
        ],
        "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": [
          0.4419220951843844,
          -0.3071344765333771,
          -0.13123195959378725,
          -1.311053762409737,
          -0.03782093291638232,
          -0.664890681867944,
          0.25808943863921063
        ],
        "joint_pos_r": [
          -0.41479345054977895,
          -0.9426286518972888,
          0.13474047429068778,
          -0.6025743624916997,
          0.14734777421814982,
          0.850088814023412,
          -0.6264109636161058
        ],
        "eef_pose_l": [
          460.4476610235444,
          395.9967029818874,
          66.85620142003478,
          1.7613485064807,
          0.009744037277777734,
          0.8479806119573917
        ],
        "eef_pose_r": [
          605.092264111143,
          -282.3819589248657,
          25.970698502519554,
          1.6181915434157519,
          0.21289785806333825,
          2.3662470896282066
        ],
        "joint_status_l": {
          "velocity": [
            0.40266533479638156,
            -0.08508234280268923,
            0.03252123732189194,
            0.17073791674704353,
            -0.5190186333422497,
            -0.21601803950943577,
            0.3345346517322767
          ],
          "torque": [
            -19.072265625,
            5.13427734375,
            -12.835693359375,
            0.23193359375,
            -3.9166259765625,
            -2.413330078125,
            0.32501220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4478392245910179,
            -2.4263263505837074,
            -0.17852998352119176,
            3.5198117528247863,
            -0.18282604487307452,
            3.493629713846147,
            -0.7789484731279828
          ],
          "torque": [
            28.2568359375,
            0.98876953125,
            7.208251953125,
            -0.994873046875,
            2.076416015625,
            3.3563232421875,
            -0.76263427734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.6,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.6,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.2,
            -0.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.2,
            -0.6,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -360,
          "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": [
          0.44692039539714246,
          -0.30668882949262644,
          -0.1313870589829555,
          -1.3115879555779377,
          -0.04451252080331067,
          -0.6635950896841838,
          0.2628279188342828
        ],
        "act_joint_pos_r": [
          -0.42050018766225117,
          -0.9667544419177146,
          0.1330185187285202,
          -0.5696086005685748,
          0.1512099129045805,
          0.884338894632487,
          -0.6390192815961544
        ],
        "act_eef_pose_l": [
          459.9822875079824,
          396.27429076978365,
          65.40763144788781,
          1.7613408901770689,
          0.013025133346756645,
          0.8503085784048945
        ],
        "act_eef_pose_r": [
          604.6342644042035,
          -274.7243481268787,
          22.040943346919903,
          1.6103766556297567,
          0.21611845055262693,
          2.386823607979611
        ],
        "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": [
          0.44269506531802605,
          -0.30710854693714346,
          -0.13123994998136912,
          -1.3110604154505872,
          -0.03884863692978369,
          -0.6648041650295818,
          0.2588054574931308
        ],
        "joint_pos_r": [
          -0.4158238906473566,
          -0.9473554252817337,
          0.1343993845702947,
          -0.5959735418551538,
          0.14770741569569443,
          0.8568332890758897,
          -0.6285412877790741
        ],
        "eef_pose_l": [
          460.37638259628005,
          396.03005543772684,
          66.62358373803153,
          1.761339344145859,
          0.010288710544157231,
          0.8482631040388788
        ],
        "eef_pose_r": [
          605.0330422993376,
          -280.91466022146216,
          25.178843900089106,
          1.6169435314308562,
          0.21350258463742727,
          2.3703716716723044
        ],
        "joint_status_l": {
          "velocity": [
            0.45632219004110297,
            0.045328147125989204,
            -0.01588730360035928,
            -0.056972653434073095,
            -0.6116814177618557,
            0.13057628616142125,
            0.4344130125173429
          ],
          "torque": [
            -17.52685546875,
            9.7412109375,
            -12.237548828125,
            -3.2958984375,
            -4.19677734375,
            -1.065673828125,
            0.3643798828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5050251826870245,
            -2.0950320070198813,
            -0.14912911258369022,
            2.847329681451072,
            0.37825854242035106,
            2.9705177893726287,
            -1.1315899577821753
          ],
          "torque": [
            28.9892578125,
            1.01806640625,
            7.012939453125,
            -1.092529296875,
            4.2205810546875,
            3.563232421875,
            -0.66558837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.6,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.6,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.0,
            -1.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.0,
            -1.2,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -332,
          "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": [
          0.4446800110943427,
          -0.30264953009712114,
          -0.13314372874588237,
          -1.323833434608486,
          -0.0397594675861801,
          -0.6535203513658127,
          0.2580943532697159
        ],
        "act_joint_pos_r": [
          -0.42167687312344576,
          -0.9723472237739716,
          0.13258396617407905,
          -0.5590410633360985,
          0.15761371424832138,
          0.8926300885582702,
          -0.6447427126371877
        ],
        "act_eef_pose_l": [
          459.35028750798233,
          395.0230907697836,
          67.05083144788779,
          1.7618436173327634,
          0.011319679840961626,
          0.8515127570876146
        ],
        "act_eef_pose_r": [
          605.0974644042035,
          -274.19154812687873,
          21.795343346919708,
          1.6052527112465051,
          0.21688321466074323,
          2.38665137009363
        ],
        "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": [
          0.443159802122515,
          -0.3065252979205256,
          -0.13148733862869671,
          -1.3126968852687046,
          -0.039251071289077934,
          -0.6633207545261977,
          0.2589201304167159
        ],
        "joint_pos_r": [
          -0.416650768815146,
          -0.950856387871088,
          0.13414655306247547,
          -0.5909203710786505,
          0.14887603296183616,
          0.8618331901352126,
          -0.6307010779858853
        ],
        "eef_pose_l": [
          460.2280935280948,
          395.91573910564796,
          66.61528773195971,
          1.7614014133230085,
          0.010558318229026557,
          0.8487764196227001
        ],
        "eef_pose_r": [
          605.0329598191354,
          -279.92233675198264,
          24.669637657451062,
          1.6154673188958004,
          0.21394665365658977,
          2.372879418711561
        ],
        "joint_status_l": {
          "velocity": [
            0.16417772679400144,
            0.41857057984850954,
            -0.17888485672912235,
            -1.202711856604921,
            -0.054905180745301596,
            1.0584123251184963,
            -0.08918130161417182
          ],
          "torque": [
            -17.2412109375,
            12.32666015625,
            -16.510009765625,
            -4.16259765625,
            -4.21875,
            -0.589599609375,
            -0.281982421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5428032561698437,
            -2.3209418249914293,
            -0.16875440680175213,
            3.4428636943593105,
            0.943641747714663,
            3.325966935538105,
            -1.5164518169843433
          ],
          "torque": [
            28.19091796875,
            1.19384765625,
            7.18994140625,
            -1.33056640625,
            4.5849609375,
            3.544921875,
            -0.7159423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.3,
            0.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.3,
            0.0,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -360,
          "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": [
          0.4440507992338446,
          -0.3000121878544102,
          -0.13414002714008053,
          -1.3278367122900623,
          -0.03771419569675416,
          -0.6518913870624907,
          0.2556696923635377
        ],
        "act_joint_pos_r": [
          -0.4227045549433756,
          -0.9742410587479136,
          0.1325848232469478,
          -0.5623292460053785,
          0.16159983247765994,
          0.8937069537301302,
          -0.6474833549774018
        ],
        "act_eef_pose_l": [
          458.7542875079823,
          394.9918907697836,
          67.83563144788769,
          1.7619148933259077,
          0.011006920094231525,
          0.8515920703847507
        ],
        "act_eef_pose_r": [
          604.6462644042035,
          -271.82674812687867,
          22.083343346919946,
          1.6009589222399132,
          0.21538009662013421,
          2.390223887610739
        ],
        "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": [
          0.44331956033204534,
          -0.3056393702639131,
          -0.13185119563343067,
          -1.3148390998948305,
          -0.03909744909450729,
          -0.6616492845499484,
          0.2585211759210451
        ],
        "joint_pos_r": [
          -0.41757925550391684,
          -0.9545777517468316,
          0.13388975631436176,
          -0.586006621316903,
          0.15070894707368002,
          0.8670031672216745,
          -0.6332820557830257
        ],
        "eef_pose_l": [
          460.02875864468683,
          395.77735186022085,
          66.76917608288699,
          1.7614770805472448,
          0.010641120545692573,
          0.8492010786390618
        ],
        "eef_pose_r": [
          605.0122810616417,
          -278.74302226136257,
          24.215627374424344,
          1.6134011009799354,
          0.2142431263497368,
          2.3755372618285087
        ],
        "joint_status_l": {
          "velocity": [
            0.07897147225532919,
            0.6077177765488884,
            -0.24718651234167943,
            -1.4037007387450728,
            0.1493869610244558,
            1.0538218478322037,
            -0.30795114167747606
          ],
          "torque": [
            -17.4169921875,
            13.55712890625,
            -17.431640625,
            -3.9306640625,
            -2.413330078125,
            -0.406494140625,
            -0.37628173828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5535160143792517,
            -2.1235745246341864,
            -0.14092861481340702,
            2.5570811165680496,
            1.176180934027382,
            2.883923886124684,
            -1.5336950790745263
          ],
          "torque": [
            29.06982421875,
            -0.35888671875,
            6.939697265625,
            -0.897216796875,
            4.6417236328125,
            3.5906982421875,
            -0.7012939453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.7,
            -6.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -6.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.2,
            -0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.2,
            -0.8,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -337,
          "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": [
          0.4441269640323496,
          -0.2992268166481262,
          -0.13435933880503365,
          -1.3271169637320595,
          -0.03572836405902552,
          -0.652972414398058,
          0.25353553915664595
        ],
        "act_joint_pos_r": [
          -0.4231186497974951,
          -0.974808719774399,
          0.13261872945786113,
          -0.564739283534622,
          0.1626704064176674,
          0.8944754703039928,
          -0.6481433001632232
        ],
        "act_eef_pose_l": [
          458.53748750798235,
          395.4646907697836,
          67.72603144788792,
          1.7630474719216813,
          0.011363032923056455,
          0.8517963374087977
        ],
        "act_eef_pose_r": [
          604.2542644042035,
          -270.5427481268787,
          22.260143346919904,
          1.5991379409572735,
          0.21453827166105893,
          2.392940682508242
        ],
        "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": [
          0.4434574441682984,
          -0.3045558136020066,
          -0.13228062803343782,
          -1.3170559685776764,
          -0.038628791416163225,
          -0.660045992416294,
          0.2577761857824444
        ],
        "joint_pos_r": [
          -0.418526639561779,
          -0.9581108522528808,
          0.1336624056656353,
          -0.5820599771781281,
          0.15274103202668735,
          0.8718010618315895,
          -0.6358586064524568
        ],
        "eef_pose_l": [
          459.7797450478646,
          395.69254245933774,
          66.944402658282,
          1.761684128002536,
          0.010749848311854254,
          0.8496466377655822
        ],
        "eef_pose_r": [
          604.9198335681679,
          -277.3884384186547,
          23.84677927717763,
          1.611060107243234,
          0.2143276962175342,
          2.378442258968641
        ],
        "joint_status_l": {
          "velocity": [
            0.07230601276564386,
            0.5755146971204717,
            -0.22449414223146835,
            -1.0865554304331226,
            0.3132369161418791,
            0.7639238952386052,
            -0.4579763282965832
          ],
          "torque": [
            -16.98486328125,
            15.16845703125,
            -17.877197265625,
            -3.9306640625,
            -2.1331787109375,
            -0.5145263671875,
            -0.48980712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.49592247900553943,
            -1.803316506346242,
            -0.11271370612664366,
            1.8705797436986416,
            1.0723408072241813,
            2.4487638925885236,
            -1.3267077916081504
          ],
          "torque": [
            28.30810546875,
            1.11328125,
            6.87255859375,
            -0.4150390625,
            4.8614501953125,
            3.365478515625,
            -0.7891845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.7,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.1,
            -1.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.1,
            -1.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -364,
          "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": [
          0.4439051801221454,
          -0.2988220953522494,
          -0.13446609114183458,
          -1.326515647523973,
          -0.03382830632110108,
          -0.653356617246181,
          0.25169500135281564
        ],
        "act_joint_pos_r": [
          -0.423166027865554,
          -0.9767667495988406,
          0.13248076647538556,
          -0.5615377993591392,
          0.16266325053404615,
          0.9011314386646827,
          -0.6480978194429237
        ],
        "act_eef_pose_l": [
          458.4822875079824,
          395.81589076978366,
          67.66123144788781,
          1.7640551983541537,
          0.011367898301551002,
          0.852161652380142
        ],
        "act_eef_pose_r": [
          603.8142644042035,
          -269.6067481268787,
          22.443343346919846,
          1.59690095758378,
          0.21426597092332997,
          2.3973453058538574
        ],
        "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": [
          0.4435454503299089,
          -0.3036394956697698,
          -0.13263297653266828,
          -1.318650139221156,
          -0.03796298505706097,
          -0.6589213439932421,
          0.2568959737882502
        ],
        "joint_pos_r": [
          -0.41934325804556327,
          -0.9612579314430165,
          0.13346415242189733,
          -0.5786790966543145,
          0.15449591713369862,
          0.8764721251158616,
          -0.6380261198286874
        ],
        "eef_pose_l": [
          459.5541617332315,
          395.6923580253776,
          67.07442080176725,
          1.762041368744659,
          0.010862740963448433,
          0.8500668789052317
        ],
        "eef_pose_r": [
          604.7683683193645,
          -276.0801555418584,
          23.57623601906471,
          1.6087648110090174,
          0.21430864630521437,
          2.3814751270459262
        ],
        "joint_status_l": {
          "velocity": [
            0.03884967175160625,
            0.5202638899288736,
            -0.19797053896097871,
            -0.8494498435194231,
            0.446532133722366,
            0.6009727639391116,
            -0.5616884569115133
          ],
          "torque": [
            -19.39453125,
            14.94873046875,
            -17.93212890625,
            -4.193115234375,
            -1.7999267578125,
            -0.640869140625,
            -0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4128469642887822,
            -1.6749029622058487,
            -0.10620254994653244,
            1.8512055094905833,
            0.8820459926814905,
            2.6631273185309112,
            -1.087711478001907
          ],
          "torque": [
            29.501953125,
            1.53076171875,
            6.79931640625,
            -0.677490234375,
            5.0189208984375,
            3.2977294921875,
            -0.875244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.6,
            -7.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.6,
            -7.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.2,
            -1.3,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.2,
            -1.3,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -349,
          "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": [
          0.4446436410804852,
          -0.29861426002194547,
          -0.13452434719178988,
          -1.3262468684730455,
          -0.03675236403854958,
          -0.6540062828727176,
          0.25462089975783764
        ],
        "act_joint_pos_r": [
          -0.42329670243076567,
          -0.9772674693815118,
          0.13242156420293208,
          -0.5594261646798174,
          0.1649936097336937,
          0.9029429283021566,
          -0.6529601169906282
        ],
        "act_eef_pose_l": [
          458.4142875079824,
          395.9470907697837,
          67.72123144788776,
          1.7627937663943327,
          0.011146938981364613,
          0.8523227951272992
        ],
        "act_eef_pose_r": [
          603.9374644042035,
          -269.9203481268787,
          22.645743346919744,
          1.5951346280229108,
          0.21775974998002892,
          2.396428570796727
        ],
        "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": [
          0.44367247693479733,
          -0.30276988867804944,
          -0.13296208997739936,
          -1.3200177428947681,
          -0.03748307430373706,
          -0.6579932506118622,
          0.2562276914335764
        ],
        "joint_pos_r": [
          -0.4198822350043195,
          -0.9634428288698943,
          0.13332401678938385,
          -0.5761736668154653,
          0.15576663263749907,
          0.8800051541991977,
          -0.6397086818373272
        ],
        "eef_pose_l": [
          459.37227342240135,
          395.72432594180765,
          67.17553695420779,
          1.7622651275536734,
          0.010928973719415534,
          0.8504247128466697
        ],
        "eef_pose_r": [
          604.649446559854,
          -275.1949381643981,
          23.424844524678235,
          1.6070376421173962,
          0.21448379989447647,
          2.3836516727271353
        ],
        "joint_status_l": {
          "velocity": [
            0.1048826343863496,
            0.44879465836844545,
            -0.16871880305902032,
            -0.6727257214702576,
            0.07891438118501348,
            0.4305798165544772,
            -0.17352838303397178
          ],
          "torque": [
            -16.8603515625,
            15.4541015625,
            -17.51708984375,
            -3.851318359375,
            -1.7083740234375,
            -0.52001953125,
            -0.56121826171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.36875160630867043,
            -1.4930171410671988,
            -0.09746200484872514,
            1.8086768865774872,
            0.9964841366603139,
            2.4772065418172673,
            -1.431112788140787
          ],
          "torque": [
            28.623046875,
            0.849609375,
            6.732177734375,
            0.054931640625,
            5.009765625,
            3.548583984375,
            -0.73699951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.2,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.2,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.2,
            -0.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.2,
            -0.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -299,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4445053005690941,
          -0.2983773711792603,
          -0.1345814279798291,
          -1.325771516990026,
          -0.03627900106953457,
          -0.65396886095961,
          0.25415958767705604
        ],
        "act_joint_pos_r": [
          -0.42254245596620166,
          -0.9744732918202635,
          0.13269411636657077,
          -0.5672323975055484,
          0.16699613810321082,
          0.8985826497387895,
          -0.6563697730192178
        ],
        "act_eef_pose_l": [
          458.4550875079824,
          396.2462907697836,
          67.73883144788766,
          1.7631044896017347,
          0.010947031186727098,
          0.8529764367035081
        ],
        "act_eef_pose_r": [
          603.7334644042035,
          -269.52034812687873,
          23.826543346919834,
          1.5930630257262381,
          0.22016755558535875,
          2.3960656347815283
        ],
        "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": [
          0.44382857618643307,
          -0.302008407389522,
          -0.13324475134405595,
          -1.321065464661762,
          -0.037300462971904896,
          -0.657284098402874,
          0.2558915413994072
        ],
        "joint_pos_r": [
          -0.42043155906176566,
          -0.9656856764479939,
          0.13318410707276057,
          -0.5737754106781342,
          0.15754242555610917,
          0.8837463617895801,
          -0.6422974891386312
        ],
        "eef_pose_l": [
          459.2076423543681,
          395.79785775664305,
          67.27368362535643,
          1.7623939046156032,
          0.010946145334759105,
          0.8508342094382836
        ],
        "eef_pose_r": [
          604.5141196093019,
          -274.2291495507653,
          23.366752768401454,
          1.6048092199542947,
          0.21521396535897522,
          2.3859160395231496
        ],
        "joint_status_l": {
          "velocity": [
            0.0730840778278008,
            0.3921403451467853,
            -0.144356819086644,
            -0.5082386617552004,
            0.11031463189986601,
            0.35803508419274266,
            -0.18704548540227073
          ],
          "torque": [
            -16.47216796875,
            15.3955078125,
            -17.51708984375,
            -3.973388671875,
            -1.6204833984375,
            -0.4632568359375,
            -0.58319091796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.22797014205888644,
            -0.9490344699285558,
            -0.052917435552246594,
            0.7066245818609929,
            1.0209708431614395,
            1.6022718420325432,
            -1.5197618361240117
          ],
          "torque": [
            29.3701171875,
            0.81298828125,
            10.46142578125,
            -1.263427734375,
            5.0042724609375,
            3.369140625,
            -0.87615966796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.6,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.6,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.5,
            -17.6,
            -1.3,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -17.6,
            -1.3,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.44320651301075203,
          -0.2990642996612337,
          -0.1342396022389905,
          -1.3229107431253047,
          -0.03341208774791559,
          -0.6571928359531999,
          0.25228686631781566
        ],
        "act_joint_pos_r": [
          -0.4216865738134081,
          -0.9755847805614057,
          0.13273297786572025,
          -0.5711971675264776,
          0.16844736478831024,
          0.8990323852300086,
          -0.6586973121892005
        ],
        "act_eef_pose_l": [
          458.59028750798234,
          396.4926907697836,
          67.8116314478878,
          1.763752609043565,
          0.010157357115486453,
          0.8514587738222237
        ],
        "act_eef_pose_r": [
          603.4742644042035,
          -267.39714812687873,
          24.928943346919823,
          1.589530622072875,
          0.2213307021341365,
          2.3999535852753664
        ],
        "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": [
          0.4438282790344521,
          -0.3014704794129664,
          -0.13343513675192858,
          -1.3215934176976307,
          -0.03688631208704945,
          -0.6570159826885398,
          0.25544597600306235
        ],
        "joint_pos_r": [
          -0.420714403764042,
          -0.9670683952352851,
          0.1331114351765482,
          -0.5729562939281702,
          0.15904117143926397,
          0.8860181838634312,
          -0.6445357875637943
        ],
        "eef_pose_l": [
          459.0956196003291,
          395.8928835363825,
          67.35630787577861,
          1.762566378388809,
          0.010879013143323927,
          0.8510557626264421
        ],
        "eef_pose_r": [
          604.3743275310934,
          -273.32715340290616,
          23.502669264301062,
          1.6026909790858996,
          0.21608078477576945,
          2.3878377130118094
        ],
        "joint_status_l": {
          "velocity": [
            -0.06714875011315513,
            0.2598597490335308,
            -0.08687971022258711,
            -0.14226695024888159,
            0.3752051625417474,
            -0.01909958927104327,
            -0.3411737836238604
          ],
          "torque": [
            -23.02734375,
            16.0693359375,
            -17.449951171875,
            -4.052734375,
            -1.3897705078125,
            -1.2799072265625,
            -0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.10499126877938636,
            -0.9197424888656158,
            -0.040872184108864396,
            0.18998004822101677,
            1.0158389211294416,
            1.4054922948112392,
            -1.529399552315347
          ],
          "torque": [
            29.97802734375,
            0.8056640625,
            8.50830078125,
            -1.07421875,
            4.8687744140625,
            3.515625,
            -0.589599609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.4,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.4,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -17.3,
            -1.1,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.3,
            -1.1,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -301,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4426195119929672,
          -0.2994091470323115,
          -0.13408263074918558,
          -1.321786988980694,
          -0.032733453034080165,
          -0.6581829085437184,
          0.2525312137349
        ],
        "act_joint_pos_r": [
          -0.4214041505756194,
          -0.9770551965803175,
          0.1326430525292619,
          -0.569626608840412,
          0.1697525070913315,
          0.90263457113999,
          -0.6601468299322636
        ],
        "act_eef_pose_l": [
          458.71428750798236,
          396.59989076978366,
          67.89883144788797,
          1.7637589605437534,
          0.00915406321216184,
          0.8510014619488591
        ],
        "act_eef_pose_r": [
          603.3550644042035,
          -266.6355481268787,
          25.408143346919815,
          1.5869743616139973,
          0.2219732122661636,
          2.4021350395515597
        ],
        "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": [
          0.4436521067221482,
          -0.3010839601551081,
          -0.13355965990708077,
          -1.3216995243175875,
          -0.036195460959029396,
          -0.6571589744189357,
          0.2549149917045365
        ],
        "joint_pos_r": [
          -0.4208778167412525,
          -0.9687843274075499,
          0.13303340893796262,
          -0.5725105137840413,
          0.1609133937972063,
          0.8887380743787777,
          -0.6473173535778676
        ],
        "eef_pose_l": [
          459.0203569381205,
          396.0110044553276,
          67.44675583052239,
          1.7627762713124289,
          0.01063810362636357,
          0.8510748877801527
        ],
        "eef_pose_r": [
          604.211377979529,
          -272.2182127948222,
          23.785362508654828,
          1.600198224249738,
          0.21703852554297057,
          2.390166112823254
        ],
        "joint_status_l": {
          "velocity": [
            -0.11151694173516802,
            0.1808744826545805,
            -0.0564791851828117,
            -0.009445905023497403,
            0.37388582872144305,
            -0.11058162404609106,
            -0.25744042792119615
          ],
          "torque": [
            -24.3603515625,
            15.50537109375,
            -17.376708984375,
            -2.716064453125,
            -1.395263671875,
            -1.8621826171875,
            -0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.056842377635035746,
            -0.8932275263209277,
            -0.042157248778096346,
            0.3114525481100472,
            0.9545960814589804,
            1.5007773871476005,
            -1.3855425818807277
          ],
          "torque": [
            30.4541015625,
            -0.0146484375,
            7.21435546875,
            -0.323486328125,
            4.8779296875,
            3.34716796875,
            -0.64361572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.4,
            -6.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.4,
            -6.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.0,
            -1.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.0,
            -1.5,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -358,
          "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": [
          0.4400742354794943,
          -0.301279630344395,
          -0.13329556510814683,
          -1.3171567471764516,
          -0.02826423473421536,
          -0.662901868599919,
          0.24869419632221096
        ],
        "act_joint_pos_r": [
          -0.42071611968558104,
          -0.9763013746032184,
          0.13281891732415152,
          -0.576793516862879,
          0.1713471626939449,
          0.9045998798613714,
          -0.664201653796992
        ],
        "act_eef_pose_l": [
          459.15188750798234,
          396.7110907697836,
          68.0620314478877,
          1.7645415004616831,
          0.008773444592275578,
          0.8485117429441805
        ],
        "act_eef_pose_r": [
          602.3934644042034,
          -264.3707481268787,
          26.917743346919906,
          1.582175012813615,
          0.22469202060948562,
          2.408312255980067
        ],
        "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": [
          0.4432637497058788,
          -0.3009692767535943,
          -0.13357803606627275,
          -1.3213162308078583,
          -0.035242480351357686,
          -0.6577325963494132,
          0.2541935641889354
        ],
        "joint_pos_r": [
          -0.4209308956607987,
          -0.9702028821771784,
          0.13297461010864384,
          -0.572417082630992,
          0.16256888843248027,
          0.8913092955015047,
          -0.6498213377984544
        ],
        "eef_pose_l": [
          459.0079360775881,
          396.11708076200847,
          67.53562959607163,
          1.7630015106997745,
          0.010359790106802496,
          0.8508478587493546
        ],
        "eef_pose_r": [
          604.0097240633746,
          -271.09314748777155,
          24.15601686171874,
          1.5975992152295675,
          0.21805062366755068,
          2.3926705545578892
        ],
        "joint_status_l": {
          "velocity": [
            -0.3444573772224402,
            -0.0335171992693617,
            0.030505963752425203,
            0.4492109834242086,
            0.7536282995728172,
            -0.5582649379096694,
            -0.5939142130431119
          ],
          "torque": [
            -25.96435546875,
            11.923828125,
            -12.5244140625,
            -1.153564453125,
            -1.3751220703125,
            -2.1368408203125,
            -0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.023195121220176418,
            -0.6586177571197283,
            -0.016814324813263504,
            -0.4726409572439749,
            0.9480256597158565,
            1.435340777751648,
            -1.5530283237197295
          ],
          "torque": [
            33.18603515625,
            0.73974609375,
            6.988525390625,
            -2.734375,
            5.042724609375,
            3.6932373046875,
            -0.648193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.6,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.6,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.4,
            -1.4,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.4,
            -1.4,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -312,
          "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": [
          0.43725729211287295,
          -0.3033613874823397,
          -0.13242490322807451,
          -1.3118800153143968,
          -0.02159904372544953,
          -0.6686228897496946,
          0.24256203660289966
        ],
        "act_joint_pos_r": [
          -0.420317850501406,
          -0.9771310871412129,
          0.13284620591027788,
          -0.5797934214866733,
          0.17313141228083095,
          0.9080934587042719,
          -0.667655601604604
        ],
        "act_eef_pose_l": [
          459.5262875079824,
          396.7990907697837,
          68.04763144788768,
          1.7663952949902055,
          0.009013322648791648,
          0.8452753175951182
        ],
        "act_eef_pose_r": [
          601.7350644042035,
          -262.42514812687875,
          27.978543346919878,
          1.5777917617002568,
          0.22666921912996374,
          2.413467350548248
        ],
        "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": [
          0.44234482073769943,
          -0.3012864964857497,
          -0.13341837052140199,
          -1.3199158163255709,
          -0.03316870904754275,
          -0.6593675400475595,
          0.25244844442242037
        ],
        "joint_pos_r": [
          -0.42086687158755104,
          -0.9712652696153502,
          0.13295098249575016,
          -0.573352846377237,
          0.16414064329701214,
          0.8937460987304141,
          -0.6524344303596565
        ],
        "eef_pose_l": [
          459.0817923356234,
          396.2320035461182,
          67.62919854674482,
          1.7634910043763155,
          0.010101909503157239,
          0.8500226576054415
        ],
        "eef_pose_r": [
          603.7048862436914,
          -269.83879052255486,
          24.682059380684706,
          1.594766972189813,
          0.21926279425941886,
          2.3956483835977096
        ],
        "joint_status_l": {
          "velocity": [
            -0.5494368867067223,
            -0.2240816186978023,
            0.10729130329156789,
            0.8678409136084753,
            1.24948700313679,
            -0.9995482877300788,
            -1.0677005543637819
          ],
          "torque": [
            -27.158203125,
            8.6572265625,
            -10.858154296875,
            0.0,
            -1.2689208984375,
            -2.49755859375,
            -0.52825927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.05929252856429201,
            -0.6334896090152142,
            -0.011315537497114114,
            -0.6955615973263107,
            0.9709744128929554,
            1.5494691780260084,
            -1.6438380120433749
          ],
          "torque": [
            36.90673828125,
            0.732421875,
            7.049560546875,
            -5.133056640625,
            5.028076171875,
            3.6090087890625,
            -0.76171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.3,
            -1.2,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.3,
            -1.2,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -311,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4375467184284868,
          -0.3030409566137826,
          -0.1324348558458186,
          -1.3099159003767085,
          -0.023012562695739407,
          -0.670777965068166,
          0.24397068373230146
        ],
        "act_joint_pos_r": [
          -0.4197411334602949,
          -0.9790267204653557,
          0.13268361292543385,
          -0.5754961101390172,
          0.17337762634417245,
          0.9144204855860687,
          -0.6680863789998774
        ],
        "act_eef_pose_l": [
          459.47988750798237,
          397.39029076978363,
          68.10443144788798,
          1.7657618969868036,
          0.008771181164006636,
          0.8455389793343695
        ],
        "act_eef_pose_r": [
          601.5942644042035,
          -261.9971481268787,
          28.451343346919884,
          1.5754435659470425,
          0.2274598045668646,
          2.4163464455785353
        ],
        "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": [
          0.441541114441001,
          -0.30159144056506676,
          -0.1332561722130824,
          -1.3183731318408862,
          -0.03142621549727547,
          -0.661132261157955,
          0.25098212080311355
        ],
        "joint_pos_r": [
          -0.4207282177368309,
          -0.9724390739450246,
          0.1329207338760757,
          -0.5741817505402135,
          0.16574803930309379,
          0.8967390222930737,
          -0.655156721203353
        ],
        "eef_pose_l": [
          459.15108259937546,
          396.3910843728304,
          67.70637390211581,
          1.7638826094937046,
          0.009888370502680332,
          0.8492691556544341
        ],
        "eef_pose_r": [
          603.3557101169814,
          -268.48707244374526,
          25.2942902507275,
          1.59161728581799,
          0.22060220787214366,
          2.399043433865917
        ],
        "joint_status_l": {
          "velocity": [
            -0.4313820464183493,
            -0.1565431162688924,
            0.08869955161106002,
            0.913354060195104,
            0.9086477034344342,
            -1.0417052988476172,
            -0.7572128708479564
          ],
          "torque": [
            -28.330078125,
            7.6318359375,
            -11.16943359375,
            0.372314453125,
            -1.219482421875,
            -2.5579833984375,
            -0.5255126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.10660195780953785,
            -0.7114448412508523,
            -0.025608307392732677,
            -0.14194665017797092,
            0.8239710987079096,
            1.9095417167198647,
            -1.3963618585322024
          ],
          "torque": [
            38.3642578125,
            1.34033203125,
            7.012939453125,
            -5.291748046875,
            5.0592041015625,
            3.380126953125,
            -0.60516357421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.4,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.4,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.5,
            -17.2,
            -1.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -17.2,
            -1.5,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -379,
          "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": [
          0.43738550159992196,
          -0.30315116814167137,
          -0.13236009878870528,
          -1.308975220424036,
          -0.022230293103222273,
          -0.6715901385264814,
          0.2434184783953165
        ],
        "act_joint_pos_r": [
          -0.41919701228995043,
          -0.9828469691165272,
          0.13236253275810267,
          -0.5670131104898047,
          0.174457752830532,
          0.9246659017889424,
          -0.6698217136197018
        ],
        "act_eef_pose_l": [
          459.50468750798234,
          397.5678907697836,
          68.03323144788789,
          1.7661638742864931,
          0.008657102023001136,
          0.8454256095458963
        ],
        "act_eef_pose_r": [
          601.5326644042035,
          -261.4067481268787,
          28.920943346919785,
          1.57173367629473,
          0.2291141085114375,
          2.4200743732831618
        ],
        "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": [
          0.44081667948305936,
          -0.30186016376850816,
          -0.13310252077716825,
          -1.3167716732365047,
          -0.02985033743909717,
          -0.6629293506466263,
          0.249680127374672
        ],
        "joint_pos_r": [
          -0.4205467644293731,
          -0.9736610401468526,
          0.1328660821813045,
          -0.5738883185814676,
          0.166968939045873,
          0.9000183404776809,
          -0.6572202196486725
        ],
        "eef_pose_l": [
          459.2134175852463,
          396.58715112070917,
          67.77034470413994,
          1.7642482984568562,
          0.009671488452346768,
          0.8485948697219772
        ],
        "eef_pose_r": [
          603.092109862962,
          -267.4593606150434,
          25.79690919987982,
          1.5889647754090896,
          0.22171132493588303,
          2.4019167500843572
        ],
        "joint_status_l": {
          "velocity": [
            -0.3705562824056763,
            -0.139424360199758,
            0.08017920999470185,
            0.8419920705176054,
            0.8229405169413451,
            -0.9353375047185253,
            -0.6762381451925759
          ],
          "torque": [
            -28.7109375,
            7.119140625,
            -11.309814453125,
            0.177001953125,
            -1.2066650390625,
            -2.38037109375,
            -0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.14576893183315676,
            -0.9920510697423168,
            -0.054381733802344456,
            0.742500575015903,
            0.808768035404972,
            2.661858114307414,
            -1.3609212106455715
          ],
          "torque": [
            40.078125,
            0.263671875,
            7.171630859375,
            -3.302001953125,
            5.0830078125,
            3.87451171875,
            -0.640869140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.2,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.2,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.0,
            -1.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.0,
            -1.0,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4378280096836269,
          -0.30368968117452183,
          -0.1321691398353541,
          -1.3083251020580924,
          -0.02195780282129594,
          -0.673793918471688,
          0.2426562580202651
        ],
        "act_joint_pos_r": [
          -0.41868566032242294,
          -0.9853871208747681,
          0.13225448373142396,
          -0.5665501640187096,
          0.17529535712534372,
          0.9261931712893758,
          -0.6706111195823653
        ],
        "act_eef_pose_l": [
          459.29988750798236,
          397.21669076978367,
          67.75563144788777,
          1.7662811066566007,
          0.010033503081033178,
          0.8435046484199227
        ],
        "act_eef_pose_r": [
          601.5942644042035,
          -259.82514812687873,
          29.374543346919836,
          1.5695569087625454,
          0.2291776013320901,
          2.4225992767917544
        ],
        "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": [
          0.44030254370250715,
          -0.3021331661976382,
          -0.1329589217172531,
          -1.3154166115624264,
          -0.028566889115022306,
          -0.6646018245338763,
          0.24856473038571067
        ],
        "joint_pos_r": [
          -0.4202547418564993,
          -0.9755806707110826,
          0.13276310214542708,
          -0.5725552700758264,
          0.1684449952636086,
          0.9047877622754473,
          -0.6596592868109951
        ],
        "eef_pose_l": [
          459.2393543628328,
          396.70824402176277,
          67.78361139294088,
          1.7645668266511743,
          0.009654800717742865,
          0.8478558311253434
        ],
        "eef_pose_r": [
          602.8109888383971,
          -266.1914288363109,
          26.415197125533496,
          1.5855726535174823,
          0.2230777078787376,
          2.4055670266904974
        ],
        "joint_status_l": {
          "velocity": [
            -0.26724179216364163,
            -0.16809865969857896,
            0.08529392763523269,
            0.7658604386229229,
            0.713760268488628,
            -0.9927168666648001,
            -0.6380961958269982
          ],
          "torque": [
            -28.82080078125,
            6.62109375,
            -10.809326171875,
            -0.13427734375,
            -1.494140625,
            -2.5213623046875,
            -0.53741455078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.16945580784888392,
            -1.0590653822140084,
            -0.054929168663120365,
            0.6485323267302334,
            0.7398172613235499,
            2.311715993084995,
            -1.1827630555760749
          ],
          "torque": [
            41.02294921875,
            0.56396484375,
            7.8125,
            -1.4892578125,
            4.9346923828125,
            3.53759765625,
            -0.6097412109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.6,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.6,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.1,
            -16.5,
            -0.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.5,
            -0.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -351,
          "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": [
          0.43847759405971454,
          -0.30347813500509013,
          -0.13236853720118505,
          -1.3113471697559484,
          -0.02173046954526035,
          -0.6717377353203062,
          0.24261332852112616
        ],
        "act_joint_pos_r": [
          -0.41794948009086275,
          -0.9910833666615164,
          0.13185046161255423,
          -0.5571575929425525,
          0.1741538921756831,
          0.9320068217683429,
          -0.6694260109782237
        ],
        "act_eef_pose_l": [
          459.04228750798234,
          396.4710907697836,
          67.59723144788774,
          1.7665940345766766,
          0.010411040436686617,
          0.8427422345122103
        ],
        "act_eef_pose_r": [
          602.2198644042035,
          -258.8099481268787,
          29.12414334691971,
          1.5691034608631838,
          0.2290502956887768,
          2.4247028926442273
        ],
        "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": [
          0.43992963632631266,
          -0.30238732964850157,
          -0.13283911474028232,
          -1.3144633636403387,
          -0.02737573534539402,
          -0.6660225453456964,
          0.24751579280772226
        ],
        "joint_pos_r": [
          -0.41998423964591114,
          -0.9773193457815476,
          0.13266815703706558,
          -0.5712313264207194,
          0.16943472842236348,
          0.9082922571759263,
          -0.6612696868464306
        ],
        "eef_pose_l": [
          459.2251729268004,
          396.72352231524957,
          67.76395414826075,
          1.764894276457165,
          0.009755723448937272,
          0.8470096637070941
        ],
        "eef_pose_r": [
          602.6610994919313,
          -265.17447754072,
          26.849687589579474,
          1.583135137741293,
          0.22397217249346804,
          2.4082665417403057
        ],
        "joint_status_l": {
          "velocity": [
            -0.1568159397540292,
            -0.11780350408274742,
            0.05082087534102886,
            0.33653901382635354,
            0.6096707251375955,
            -0.6172223132585586,
            -0.5294505276438599
          ],
          "torque": [
            -30.00732421875,
            6.11572265625,
            -13.861083984375,
            0.347900390625,
            -1.4080810546875,
            -2.6239013671875,
            -0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.21974755083764563,
            -1.486470413935237,
            -0.08830850132723889,
            1.5199183880456602,
            0.5096546538978508,
            2.5610974404495224,
            -0.8808570267442306
          ],
          "torque": [
            41.66748046875,
            1.787109375,
            7.684326171875,
            -0.6103515625,
            4.8834228515625,
            3.1256103515625,
            -0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.9,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.9,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -16.9,
            -2.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.9,
            -2.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -368,
          "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": [
          0.43899435073774734,
          -0.3028332414470819,
          -0.1326512669824549,
          -1.3132958770783258,
          -0.023080299732404694,
          -0.6706772878984671,
          0.24260638202327678
        ],
        "act_joint_pos_r": [
          -0.41713562969350043,
          -0.997465219984272,
          0.13140915362536026,
          -0.5468060799423097,
          0.1709361018466895,
          0.9404418137267172,
          -0.6660385420932451
        ],
        "act_eef_pose_l": [
          458.82628750798233,
          396.2078907697836,
          67.74043144788772,
          1.765910122076295,
          0.011627706582021212,
          0.842921593594148
        ],
        "act_eef_pose_r": [
          602.5142644042035,
          -257.2859481268787,
          28.737743346919842,
          1.5691689398525988,
          0.22796350587856717,
          2.429759577471711
        ],
        "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": [
          0.43974923963206697,
          -0.30249388135212907,
          -0.13279365801423354,
          -1.314170973534761,
          -0.026599998624903837,
          -0.6668424320426214,
          0.24670906668012224
        ],
        "joint_pos_r": [
          -0.41954091460632975,
          -0.9803813988683515,
          0.1324817632049314,
          -0.5678245067651432,
          0.17009481704475,
          0.9133833668668397,
          -0.6625672921064563
        ],
        "eef_pose_l": [
          459.17102487214913,
          396.65203723563985,
          67.75316443253485,
          1.7650937827870192,
          0.009999469134229477,
          0.8463277845509652
        ],
        "eef_pose_r": [
          602.6103206958335,
          -263.85738856216534,
          27.247241311186826,
          1.5804945495344107,
          0.2248253809374718,
          2.411752045119085
        ],
        "joint_status_l": {
          "velocity": [
            -0.08152559611751542,
            -0.03664980932649442,
            0.015377777888847532,
            0.09450762994234196,
            0.3801162694598015,
            -0.4141522176643875,
            -0.4430768750856018
          ],
          "torque": [
            -30.52734375,
            9.5947265625,
            -12.677001953125,
            0.3173828125,
            -1.3751220703125,
            -2.7008056640625,
            -0.51910400390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.25976310928221835,
            -1.8449982652031238,
            -0.11583841812223827,
            2.2699231490612704,
            0.09085607895253922,
            2.9222260744159456,
            -0.37488394196216746
          ],
          "torque": [
            42.59765625,
            0.12451171875,
            7.36083984375,
            -1.763916015625,
            4.932861328125,
            3.6602783203125,
            -0.6646728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.6,
            -7.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.6,
            -7.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.1,
            -1.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.1,
            -1.6,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -353,
          "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": [
          0.4397500388436419,
          -0.30102739620851954,
          -0.1333266417528418,
          -1.316048022111939,
          -0.020812298347822205,
          -0.6700968482420425,
          0.2392154253710737
        ],
        "act_joint_pos_r": [
          -0.4154885706224931,
          -1.0129747868009782,
          0.13013895503987322,
          -0.5095325257229278,
          0.15466877943621385,
          0.9563527246459569,
          -0.6499301199488076
        ],
        "act_eef_pose_l": [
          458.13748750798237,
          396.09669076978366,
          67.65003144788767,
          1.7672533760712585,
          0.013361040896620751,
          0.8425593842016392
        ],
        "act_eef_pose_r": [
          604.7862644042035,
          -258.0123481268787,
          24.818543346919796,
          1.5823996938304625,
          0.22358860872209568,
          2.4324403497192146
        ],
        "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": [
          0.4396909335999308,
          -0.3023742643070023,
          -0.1328356583712496,
          -1.314289991788289,
          -0.025752099052947525,
          -0.6674627332493609,
          0.24564639535042856
        ],
        "joint_pos_r": [
          -0.41904978673527693,
          -0.9840911569829468,
          0.13223162022536356,
          -0.5622032171884283,
          0.16928782973120468,
          0.9187562289548368,
          -0.6622018924643043
        ],
        "eef_pose_l": [
          459.0283668233196,
          396.55522359819645,
          67.74092377129503,
          1.765397410702433,
          0.010502077583059492,
          0.8456417325982694
        ],
        "eef_pose_r": [
          602.7456778854792,
          -262.8224433051345,
          27.262231144300898,
          1.579374161441937,
          0.2250912688455551,
          2.414857298639182
        ],
        "joint_status_l": {
          "velocity": [
            0.006383178059010675,
            0.14545746459759812,
            -0.05302464133372098,
            -0.18986167528289855,
            0.5334827419211374,
            -0.28447602903725056,
            -0.6945242738718438
          ],
          "torque": [
            -27.3193359375,
            11.6015625,
            -11.6943359375,
            -2.862548828125,
            -1.3385009765625,
            -2.5726318359375,
            -0.523681640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3845999970102376,
            -3.119340020330874,
            -0.22600117448468016,
            5.688266911810125,
            -1.5788108673215895,
            4.060301782440767,
            1.325312343675833
          ],
          "torque": [
            43.388671875,
            -3.955078125,
            8.184814453125,
            5.633544921875,
            2.80517578125,
            4.1802978515625,
            -0.64178466796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.4,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.4,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.5,
            -16.8,
            0.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.8,
            0.0,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -389,
          "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": [
          0.44224024035049425,
          -0.29730453156470943,
          -0.13478725586215745,
          -1.322646931671348,
          -0.025697649030329128,
          -0.6649832910206444,
          0.24318581766498065
        ],
        "act_joint_pos_r": [
          -0.41385293125966577,
          -1.0238778753503877,
          0.1292463443863555,
          -0.48139221942813687,
          0.1438891549592722,
          0.9643728411145872,
          -0.6436213519380632
        ],
        "act_eef_pose_l": [
          457.3158875079823,
          396.1830907697837,
          68.06763144788789,
          1.7656854427159823,
          0.013297623413159806,
          0.8453905880233822
        ],
        "act_eef_pose_r": [
          607.0750644042035,
          -259.6171481268787,
          22.025743346919853,
          1.5930981296347675,
          0.22556883297714697,
          2.429731766245847
        ],
        "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": [
          0.439843087218942,
          -0.3019881948122534,
          -0.1329824089120348,
          -1.3148950030048216,
          -0.025413463567119723,
          -0.6674975412306978,
          0.24506667211739908
        ],
        "joint_pos_r": [
          -0.41827965549656765,
          -0.990134446679421,
          0.1317849567952774,
          -0.5504737417709407,
          0.16577724143436862,
          0.9260924200544071,
          -0.6594903059582552
        ],
        "eef_pose_l": [
          458.8802187833752,
          396.508643236935,
          67.75481376025377,
          1.7655148137582393,
          0.010821221654998669,
          0.8454581526480948
        ],
        "eef_pose_r": [
          603.3477254615921,
          -262.12567580571533,
          26.5891827027709,
          1.5807278614682831,
          0.2250715692403608,
          2.4176895861842698
        ],
        "joint_status_l": {
          "velocity": [
            0.25888490280534526,
            0.5058207123505021,
            -0.1949177218223408,
            -0.8371836045739656,
            -0.030691124840276363,
            0.27153101430688054,
            -0.2031262899715447
          ],
          "torque": [
            -23.84033203125,
            13.623046875,
            -15.52734375,
            -4.1015625,
            -2.457275390625,
            -1.3568115234375,
            -0.54931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.47807211760231283,
            -3.644182817037489,
            -0.27416205418606676,
            7.460584374848533,
            -2.3638436214694636,
            4.134163543863423,
            1.713796488456154
          ],
          "torque": [
            42.94189453125,
            1.66259765625,
            6.5185546875,
            0.37841796875,
            2.3638916015625,
            2.9296875,
            0.64544677734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.8,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.8,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.2,
            -2.2,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.2,
            -2.2,
            0.9,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 150,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4446777903053179,
          -0.2943321693825424,
          -0.1359164350298258,
          -1.326494694358644,
          -0.028131921557147103,
          -0.6620784251365822,
          0.24434787398066782
        ],
        "act_joint_pos_r": [
          -0.4128393572148079,
          -1.0318661274355003,
          0.12862617731570192,
          -0.4610098055335647,
          0.14295653350046852,
          0.9690857533168055,
          -0.6420939893283726
        ],
        "act_eef_pose_l": [
          456.5710875079824,
          396.6046907697837,
          67.9828314478878,
          1.7657427612986716,
          0.01437743099000164,
          0.8478372305145442
        ],
        "act_eef_pose_r": [
          609.1558644042035,
          -261.1443481268787,
          20.880143346920022,
          1.5961215983403032,
          0.2260184920861296,
          2.4234788373796747
        ],
        "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": [
          0.44040856954978624,
          -0.30098736044657703,
          -0.13336713738505415,
          -1.3164892018267749,
          -0.025605164999876365,
          -0.666884199523659,
          0.24480164808082283
        ],
        "joint_pos_r": [
          -0.4175631976806045,
          -0.9956072722130125,
          0.13137237833233867,
          -0.5390925788438469,
          0.1624137889993393,
          0.9321101289345202,
          -0.6570144150535339
        ],
        "eef_pose_l": [
          458.5605587949188,
          396.4764031460208,
          67.80443884254024,
          1.7655465197434772,
          0.011323039591140529,
          0.8455889806867709
        ],
        "eef_pose_r": [
          604.0510156412088,
          -261.82796695256826,
          25.842391629315728,
          1.5826455907119692,
          0.22524264881904144,
          2.4192049232959816
        ],
        "joint_status_l": {
          "velocity": [
            0.461062243293231,
            0.7187394368290967,
            -0.27531602562314017,
            -1.0805613239881495,
            -0.27288165997085834,
            0.5190083264716705,
            -0.04900615745739856
          ],
          "torque": [
            -19.365234375,
            15.59326171875,
            -17.413330078125,
            -4.669189453125,
            -3.40576171875,
            -0.87158203125,
            -0.5621337890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5101597239494104,
            -3.915840872475762,
            -0.29658096260887223,
            8.432690808589438,
            -2.101321618709795,
            3.9932496586834176,
            1.6113584538404169
          ],
          "torque": [
            43.68896484375,
            2.0361328125,
            6.793212890625,
            -1.0498046875,
            2.310791015625,
            3.6895751953125,
            0.582275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -17.1,
            -6.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.3,
            -17.1,
            -6.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.3,
            -1.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.3,
            -1.0,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.44547475144474746,
          -0.29345579879752376,
          -0.13627836376615182,
          -1.328037050850177,
          -0.0293206697308065,
          -0.6603885428017263,
          0.24509418020888737
        ],
        "act_joint_pos_r": [
          -0.4131289374522873,
          -1.034657876259207,
          0.12846423774311935,
          -0.45605493150225684,
          0.14599556152550175,
          0.9684793760171383,
          -0.6443639532111397
        ],
        "act_eef_pose_l": [
          456.40948750798236,
          396.7038907697837,
          67.97083144788786,
          1.7656347135758519,
          0.014617222805497921,
          0.8490295089193336
        ],
        "act_eef_pose_r": [
          609.9878644042035,
          -261.3275481268787,
          20.61854334691975,
          1.5951741324967006,
          0.2263742617620876,
          2.4196931401146555
        ],
        "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": [
          0.4412318513622922,
          -0.2997353988763028,
          -0.13384895920079323,
          -1.3183907236338275,
          -0.026154013459045257,
          -0.6658893612148518,
          0.24478551415616015
        ],
        "joint_pos_r": [
          -0.4166950875242945,
          -1.0027013120388681,
          0.1308393361944184,
          -0.5239064858422224,
          0.15899665578420658,
          0.9390478137292974,
          -0.6543888591529238
        ],
        "eef_pose_l": [
          458.1952336207184,
          396.5087497170542,
          67.8339678952911,
          1.7655679556399877,
          0.011884925827632243,
          0.8460897333064155
        ],
        "eef_pose_r": [
          605.1480388527075,
          -261.73568140881633,
          24.870133730843776,
          1.5850236705805725,
          0.22548307581550756,
          2.4196486304544584
        ],
        "joint_status_l": {
          "velocity": [
            0.4582196944373784,
            0.6781768067525284,
            -0.26236795492950993,
            -1.041772613923797,
            -0.3419887909299757,
            0.5940708674341266,
            0.033334950532593055
          ],
          "torque": [
            -18.7060546875,
            16.48681640625,
            -17.28515625,
            -4.16259765625,
            -3.9276123046875,
            -0.7196044921875,
            0.03570556640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3851328488906347,
            -3.4512071478820516,
            -0.256503067586733,
            7.327751748231304,
            -1.4040767689096345,
            3.1785149817977754,
            1.0826579104250555
          ],
          "torque": [
            43.38134765625,
            -0.62255859375,
            6.597900390625,
            -0.4150390625,
            2.3236083984375,
            3.1915283203125,
            0.6463623046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -16.9,
            -1.9,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.9,
            -1.9,
            1.0,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -366,
          "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": [
          0.44589908061466216,
          -0.2925019612562046,
          -0.13657927565399403,
          -1.3276080326716377,
          -0.03015597352355776,
          -0.6628917941847605,
          0.24599624128742698
        ],
        "act_joint_pos_r": [
          -0.41376334234652123,
          -1.048278325324031,
          0.12760215969247962,
          -0.4300235953890826,
          0.148071014512507,
          0.9726717084583127,
          -0.6576625341507987
        ],
        "act_eef_pose_l": [
          456.01748750798237,
          396.95189076978363,
          68.1676314478878,
          1.764917431343483,
          0.014575550009043127,
          0.8480341420599793
        ],
        "act_eef_pose_r": [
          612.6886644042035,
          -261.43874812687875,
          18.295343346919708,
          1.5976863228802989,
          0.23816850667233117,
          2.4121630334775115
        ],
        "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": [
          0.44195402202523015,
          -0.29864763461475624,
          -0.1342658279065369,
          -1.3199516046865558,
          -0.026723136305833832,
          -0.6651305157220523,
          0.24488867599124317
        ],
        "joint_pos_r": [
          -0.4161545707860115,
          -1.0089368803548469,
          0.13038672375090446,
          -0.5108751018963521,
          0.1570089803104526,
          0.9441884998093741,
          -0.6536996623079513
        ],
        "eef_pose_l": [
          457.8514173552603,
          396.562126845068,
          67.87147515285284,
          1.7655246351511973,
          0.012366144555137152,
          0.8465384521608093
        ],
        "eef_pose_r": [
          606.1935393891912,
          -261.69633457670784,
          23.988517171017463,
          1.586819282964141,
          0.2265007874086424,
          2.419075454845825
        ],
        "joint_status_l": {
          "velocity": [
            0.42605376187454524,
            0.6637131475510927,
            -0.2498449879412279,
            -0.8268698351656667,
            -0.37073548525551336,
            0.24177479526166223,
            0.11961352417544369
          ],
          "torque": [
            -18.75732421875,
            15.64453125,
            -17.913818359375,
            -3.826904296875,
            -4.16015625,
            -0.5145263671875,
            0.1080322265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2582450549346582,
            -4.2487507464663565,
            -0.3007240489282248,
            8.731705174906956,
            -0.965271837007009,
            3.07609580948931,
            -0.42797753650436476
          ],
          "torque": [
            43.125,
            -0.1611328125,
            6.610107421875,
            0.52490234375,
            2.42431640625,
            3.548583984375,
            -0.0897216796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -16.3,
            -1.2,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.3,
            -1.2,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -341,
          "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": [
          0.44627147829924063,
          -0.2920216096067732,
          -0.13677076647573397,
          -1.3281852572209762,
          -0.03195808511276048,
          -0.66333394420225,
          0.24780454235721772
        ],
        "act_joint_pos_r": [
          -0.41467897977794754,
          -1.0624992053109592,
          0.12672810192014888,
          -0.40237296779316944,
          0.14837547939911344,
          0.9839745970011328,
          -0.6607840191299013
        ],
        "act_eef_pose_l": [
          455.85028750798233,
          396.9094907697836,
          68.37883144788776,
          1.7638411852354823,
          0.014350891181393334,
          0.8477150944900399
        ],
        "act_eef_pose_r": [
          614.3702644042035,
          -260.74034812687876,
          16.000143346919685,
          1.5991447382675144,
          0.24054719089278176,
          2.41032553762792
        ],
        "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": [
          0.4426783920741006,
          -0.2975263937045415,
          -0.13468867174048474,
          -1.3213469444211012,
          -0.02746002618238563,
          -0.6647665707227384,
          0.2452148845159132
        ],
        "joint_pos_r": [
          -0.41579780055472276,
          -1.016918128881183,
          0.12983136832187578,
          -0.49458621723054663,
          0.15545062526672473,
          0.9500395285839137,
          -0.6546253958906079
        ],
        "eef_pose_l": [
          457.53785369647534,
          396.6239289193107,
          67.93458550028444,
          1.7653450116760394,
          0.01271426426076654,
          0.8467617254075337
        ],
        "eef_pose_r": [
          607.5429584908901,
          -261.6295541043555,
          22.79216299643454,
          1.5887860930364326,
          0.22873547967713617,
          2.4176648429479686
        ],
        "joint_status_l": {
          "velocity": [
            0.38804186763163884,
            0.5944991487440987,
            -0.22485959952744938,
            -0.7385160010215941,
            -0.48577603728211516,
            0.15471910101716446,
            0.2796747982933834
          ],
          "torque": [
            -17.373046875,
            15.8056640625,
            -17.83447265625,
            -4.168701171875,
            -4.1766357421875,
            -0.4779052734375,
            0.3826904296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.12082908022881256,
            -4.922611069762439,
            -0.33514288687541693,
            9.958737221982705,
            -0.7640932179773241,
            3.6648792992224344,
            -0.6651116934222046
          ],
          "torque": [
            44.49462890625,
            1.9775390625,
            6.463623046875,
            0.59814453125,
            2.413330078125,
            3.2025146484375,
            -0.45501708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.5,
            -7.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.5,
            -7.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -16.5,
            -2.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.5,
            -2.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.4455800625210647,
          -0.2921182606966372,
          -0.13668070975301544,
          -1.3267831155108496,
          -0.02885020782779866,
          -0.6656976061955204,
          0.2437075046124553
        ],
        "act_joint_pos_r": [
          -0.41523879928087126,
          -1.0726413542081286,
          0.12613606917574854,
          -0.3822857353114349,
          0.15021671482235588,
          0.9942055807013178,
          -0.6646333035079343
        ],
        "act_eef_pose_l": [
          455.73268750798235,
          397.0126907697836,
          68.3212314478879,
          1.7649513994693327,
          0.01582604796648576,
          0.8465568895911711
        ],
        "act_eef_pose_r": [
          615.3630644042034,
          -260.1483481268787,
          14.850543346919721,
          1.5980532653903197,
          0.2431054608995068,
          2.409611182516
        ],
        "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": [
          0.443219226405918,
          -0.2966284015840213,
          -0.13502446515755112,
          -1.322370034284666,
          -0.02797540270651623,
          -0.6647014777667617,
          0.2453452086024418
        ],
        "joint_pos_r": [
          -0.41564806421409456,
          -1.0258483135584955,
          0.12923183749242134,
          -0.4765569302879628,
          0.1543578160817172,
          0.956918230790113,
          -0.6560448913481983
        ],
        "eef_pose_l": [
          457.2519152128742,
          396.67891501423617,
          68.00283034346086,
          1.765176522030259,
          0.013090654797022375,
          0.8468352668300745
        ],
        "eef_pose_r": [
          608.9320555147808,
          -261.4581360257494,
          21.46234866580764,
          1.590461610561694,
          0.23102777944219488,
          2.4162468247822244
        ],
        "joint_status_l": {
          "velocity": [
            0.2549627807102439,
            0.48708085015558567,
            -0.1788691408467491,
            -0.47659871590077785,
            -0.0944761666729077,
            -0.10757869744182358,
            -0.1768668145107899
          ],
          "torque": [
            -16.5380859375,
            15.02197265625,
            -17.71240234375,
            -4.888916015625,
            -4.200439453125,
            -1.307373046875,
            -0.15380859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.04419930919929982,
            -5.053499345164525,
            -0.33433311757258277,
            10.180988785251532,
            -0.44722574579281194,
            4.0269150228997574,
            -0.9275211574770736
          ],
          "torque": [
            42.66357421875,
            1.8896484375,
            6.365966796875,
            0.18310546875,
            2.57080078125,
            3.2208251953125,
            -0.59234619140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.6,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.6,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -17.0,
            -2.9,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -17.0,
            -2.9,
            1.0,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -326,
          "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": [
          0.44707210823036514,
          -0.29198906807406955,
          -0.13668951272163518,
          -1.3259602068972058,
          -0.03215810730461731,
          -0.6662743192013278,
          0.24688512322655234
        ],
        "act_joint_pos_r": [
          -0.41643053029854693,
          -1.0785988800545367,
          0.12593042586576095,
          -0.37685236151917056,
          0.15601372937741956,
          0.9973784710588782,
          -0.6701876930015099
        ],
        "act_eef_pose_l": [
          455.65428750798236,
          397.3318907697836,
          68.03003144788778,
          1.7641676555240495,
          0.01604356290526033,
          0.8473040417200206
        ],
        "act_eef_pose_r": [
          615.7382644042035,
          -258.08914812687874,
          14.70494334691989,
          1.5931783692864403,
          0.2438715543010787,
          2.409846523098248
        ],
        "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": [
          0.4437149159575965,
          -0.2958776404420231,
          -0.13529737875427317,
          -1.323036191107099,
          -0.028357721924915827,
          -0.6649068186509458,
          0.2453050895624946
        ],
        "joint_pos_r": [
          -0.41567186569833076,
          -1.0333808152406507,
          0.12874708783087185,
          -0.4618552703438772,
          0.1541471921437035,
          0.9628070382368669,
          -0.6577490513091968
        ],
        "eef_pose_l": [
          456.9964384685729,
          396.75721189451866,
          68.03353327764088,
          1.7650827093100099,
          0.013557161401340561,
          0.8468435296463206
        ],
        "eef_pose_r": [
          610.0118764018869,
          -261.1416194661363,
          20.42243015225384,
          1.5912249864308,
          0.23288531569264911,
          2.41522138409114
        ],
        "joint_status_l": {
          "velocity": [
            0.36256607214424363,
            0.4199534298745533,
            -0.1503460342557883,
            -0.31578439176804807,
            -0.41042951603623146,
            -0.147685703684175,
            0.17063860300159384
          ],
          "torque": [
            -16.60400390625,
            14.9560546875,
            -18.24951171875,
            -4.541015625,
            -4.3212890625,
            -1.8365478515625,
            0.12908935546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.08193336032791265,
            -4.883406971509352,
            -0.30419052061214646,
            9.180043402161164,
            0.2015800759547215,
            3.7336046279943247,
            -1.3433336832600062
          ],
          "torque": [
            39.67529296875,
            0.98876953125,
            6.695556640625,
            -1.092529296875,
            4.039306640625,
            3.482666015625,
            -0.7562255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.1,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.1,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -17.5,
            -0.8,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -17.5,
            -0.8,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -356,
          "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": [
          0.44678314702762084,
          -0.2925885257342406,
          -0.13642874337088365,
          -1.3245102695603892,
          -0.03140522375242948,
          -0.6681040954626044,
          0.2460832548173236
        ],
        "act_joint_pos_r": [
          -0.41614675788940314,
          -1.0820949799402306,
          0.12577271174748375,
          -0.3710827529710353,
          0.1569914868200888,
          1.0019320505337903,
          -0.6716617091961546
        ],
        "act_eef_pose_l": [
          455.69508750798235,
          397.3134907697837,
          67.9348314478878,
          1.764328346852585,
          0.01643060560664245,
          0.8462983170132305
        ],
        "act_eef_pose_r": [
          615.9246644042034,
          -257.3555481268787,
          14.856943346919934,
          1.5913154599711374,
          0.24490858552651062,
          2.4111009359809668
        ],
        "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": [
          0.4442876611673084,
          -0.29523333010167363,
          -0.13552471781719713,
          -1.3234486386636866,
          -0.02897537778926969,
          -0.6652805343126863,
          0.24552663668321423
        ],
        "joint_pos_r": [
          -0.4157855434908437,
          -1.0416278241621715,
          0.12823770685210786,
          -0.4464100425807702,
          0.15454770963984024,
          0.9692478792435765,
          -0.6600545868768823
        ],
        "eef_pose_l": [
          456.76197599856795,
          396.85769942403033,
          68.02533646552203,
          1.7649328275575247,
          0.014025853370425861,
          0.8468522661186458
        ],
        "eef_pose_r": [
          611.1084161131184,
          -260.5790338072574,
          19.39674348214868,
          1.5914116417149997,
          0.23485856918473375,
          2.414340089458678
        ],
        "joint_status_l": {
          "velocity": [
            0.26950452430263283,
            0.28563044746343635,
            -0.09763188029976444,
            -0.11465275534128239,
            -0.26241562448611755,
            -0.30493561059596885,
            0.060112985545979214
          ],
          "torque": [
            -15.7177734375,
            15.17578125,
            -18.06640625,
            -4.833984375,
            -4.478759765625,
            -1.995849609375,
            0.37811279296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.03901000450579062,
            -4.370323928216457,
            -0.2662116198074438,
            8.135107345685455,
            0.26392015155796145,
            3.5297863938579255,
            -1.2535322395237358
          ],
          "torque": [
            42.47314453125,
            1.40625,
            6.103515625,
            -0.250244140625,
            4.427490234375,
            3.6749267578125,
            -0.65826416015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.5,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.1,
            -1.2,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.1,
            -1.2,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -322,
          "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": [
          0.4460747436107411,
          -0.29344842499728585,
          -0.13611391702619188,
          -1.3237225386222098,
          -0.030298525853560666,
          -0.6684820348984933,
          0.24510036576406308
        ],
        "act_joint_pos_r": [
          -0.4142746461130016,
          -1.0879138592230446,
          0.12547166318046327,
          -0.36016898022916183,
          0.15481278854305547,
          1.0113854709476349,
          -0.6747399114374193
        ],
        "act_eef_pose_l": [
          455.9102875079824,
          397.13429076978366,
          67.91163144788771,
          1.7645818544345853,
          0.01642991863830895,
          0.8457251945604655
        ],
        "act_eef_pose_r": [
          616.1790644042035,
          -256.19154812687873,
          15.423343346919864,
          1.5899780389995755,
          0.2504872849256248,
          2.415489837564711
        ],
        "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": [
          0.4446680422112982,
          -0.2948395596411132,
          -0.13565751800432485,
          -1.3235686889834417,
          -0.029309945284086897,
          -0.6658122233145418,
          0.2455406351786521
        ],
        "joint_pos_r": [
          -0.4156469235817203,
          -1.0504217441973474,
          0.1277080643798837,
          -0.4300313820307412,
          0.15479326389001982,
          0.9768868967940075,
          -0.6627359475587948
        ],
        "eef_pose_l": [
          456.5918024741357,
          396.92296056631545,
          68.00691895100451,
          1.7648483059072495,
          0.014451606161061002,
          0.8467050241437589
        ],
        "eef_pose_r": [
          612.1728895870801,
          -259.8288771572967,
          18.52220962329369,
          1.5912161434879415,
          0.23747224397244393,
          2.41416561395306
        ],
        "joint_status_l": {
          "velocity": [
            0.15191927052038423,
            0.1502381104976358,
            -0.04928964064132568,
            -0.01661527094398707,
            -0.10676355268049442,
            -0.28833114719439834,
            -0.047547694431493426
          ],
          "torque": [
            -15.76171875,
            15.16845703125,
            -13.482666015625,
            -3.02734375,
            -4.390869140625,
            -2.2412109375,
            -0.1519775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.14820159564932212,
            -4.049029003047266,
            -0.2415242061617473,
            7.544916869142604,
            0.00210860033811322,
            3.72573612387761,
            -1.2963898639162252
          ],
          "torque": [
            45.82763671875,
            -0.66650390625,
            5.889892578125,
            -0.018310546875,
            3.6328125,
            3.673095703125,
            -0.7049560546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.2,
            -1.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.2,
            -1.5,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "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": [
          0.4450816991524054,
          -0.2944383348231044,
          -0.13571194063416347,
          -1.3219443319082331,
          -0.03034402111212672,
          -0.6703538140912375,
          0.2455856554183377
        ],
        "act_joint_pos_r": [
          -0.4144497530942317,
          -1.0890678758495553,
          0.12542272831836057,
          -0.3574153448104107,
          0.15649600024162735,
          1.0143480371242721,
          -0.6813435756593702
        ],
        "act_eef_pose_l": [
          456.16948750798235,
          397.0542907697836,
          68.13083144788772,
          1.7638188376385304,
          0.01580772046196054,
          0.8446052744947952
        ],
        "act_eef_pose_r": [
          616.1446644042035,
          -256.1307481268787,
          15.576943346919734,
          1.588153769933959,
          0.2561468851551524,
          2.4157532608858485
        ],
        "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": [
          0.4448451586030124,
          -0.2946649695701754,
          -0.13570922998759324,
          -1.323467679079641,
          -0.029488014927444826,
          -0.6664192270003297,
          0.24549778207743608
        ],
        "joint_pos_r": [
          -0.41540727182351467,
          -1.057639366603966,
          0.12727977968153528,
          -0.4165140696628506,
          0.15498689313370392,
          0.9837427108154579,
          -0.6657503179426137
        ],
        "eef_pose_l": [
          456.49002988241267,
          396.9545357393434,
          68.00566124804178,
          1.764746672671704,
          0.01475690782666471,
          0.8464510377333476
        ],
        "eef_pose_r": [
          612.975201771093,
          -259.1556083682173,
          17.934539211093153,
          1.5907592548011902,
          0.24054367814495806,
          2.41443720459995
        ],
        "joint_status_l": {
          "velocity": [
            0.025545625906620018,
            0.02447583080744664,
            -0.0002927411956177295,
            0.16451664235361818,
            -0.09244594139834472,
            -0.42492287338813384,
            0.009490040923321175
          ],
          "torque": [
            -18.544921875,
            12.26806640625,
            -14.324951171875,
            -1.91650390625,
            -4.5062255859375,
            -2.406005859375,
            -0.2288818359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1034089728779719,
            -3.3941788925684335,
            -0.20055563215071182,
            6.382474043054032,
            0.16297876085391572,
            3.3052777573949754,
            -1.6840221658309673
          ],
          "torque": [
            45.791015625,
            0.52734375,
            5.694580078125,
            0.518798828125,
            4.691162109375,
            3.3489990234375,
            -0.75897216796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.7,
            -7.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.7,
            -7.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.9,
            -1.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.9,
            -1.5,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -320,
          "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": [
          0.44412102931241365,
          -0.29483467503241595,
          -0.1355636719207033,
          -1.3214940902197139,
          -0.02951571066500778,
          -0.6712236945353605,
          0.24459750641745767
        ],
        "act_joint_pos_r": [
          -0.4145766825459396,
          -1.0885982290052048,
          0.12544876382760253,
          -0.35727058368922465,
          0.15732343005312055,
          1.0150793223718892,
          -0.6861827863661359
        ],
        "act_eef_pose_l": [
          456.27748750798236,
          396.8958907697836,
          68.4004314478878,
          1.7634987818595043,
          0.015789320665675382,
          0.8437617228183089
        ],
        "act_eef_pose_r": [
          616.0678644042035,
          -256.4339481268787,
          15.690543346919867,
          1.587458163217811,
          0.2605931992839183,
          2.4154500517152893
        ],
        "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": [
          0.4448073655836034,
          -0.2946561672187111,
          -0.13569700821455846,
          -1.3231410405860058,
          -0.029578691682398434,
          -0.6672377202800502,
          0.24542952537185778
        ],
        "joint_pos_r": [
          -0.41525229754002424,
          -1.0631431949817147,
          0.12695437530869225,
          -0.40604858301322305,
          0.15534708547344983,
          0.9892365100973658,
          -0.6690534071979908
        ],
        "eef_pose_l": [
          456.43882162297047,
          396.9597121062818,
          68.05235936259876,
          1.7645440711191007,
          0.014954395482686953,
          0.8460297924904452
        ],
        "eef_pose_r": [
          613.5585273107613,
          -258.66823352479497,
          17.51767503133715,
          1.5902125168114685,
          0.24378196565012317,
          2.4146361759612645
        ],
        "joint_status_l": {
          "velocity": [
            -0.07412213117286015,
            -0.019278275297907044,
            0.014399895034156174,
            0.17786539370057142,
            0.006801749271340141,
            -0.43047252346450904,
            -0.08985539693195932
          ],
          "torque": [
            -21.6357421875,
            13.095703125,
            -15.106201171875,
            -0.921630859375,
            -3.33984375,
            -2.5909423828125,
            -0.1959228515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.07296426739511475,
            -2.7490625952690806,
            -0.16260124429035017,
            5.2678685595135555,
            0.2134389195598274,
            2.7909414112317066,
            -1.8499183897331406
          ],
          "torque": [
            45.35888671875,
            0.69580078125,
            5.615234375,
            -0.469970703125,
            4.727783203125,
            3.4552001953125,
            -0.87249755859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.1,
            -1.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.1,
            -1.0,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -333,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4424515268363326,
          -0.296606518380744,
          -0.13505224468788873,
          -1.3226972119052058,
          -0.026505897139868673,
          -0.6707561245661178,
          0.2410889977910699
        ],
        "act_joint_pos_r": [
          -0.41662954229368543,
          -1.087822309303548,
          0.12552964741163752,
          -0.3601748298950982,
          0.15986046629575193,
          1.0160078878838137,
          -0.6915597436330133
        ],
        "act_eef_pose_l": [
          456.52068750798236,
          395.6254907697836,
          68.51803144788784,
          1.763850904584737,
          0.01684641187559382,
          0.841152868732937
        ],
        "act_eef_pose_r": [
          615.3438644042035,
          -255.9067481268787,
          15.168943346919832,
          1.5856170671657233,
          0.2628706539794322,
          2.4169533115713437
        ],
        "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": [
          0.4445656415131197,
          -0.29481548190444123,
          -0.13563655843911127,
          -1.3229365930925883,
          -0.029350543291099058,
          -0.6679087614260669,
          0.24502944781921587
        ],
        "joint_pos_r": [
          -0.4152977572808971,
          -1.0669511989052156,
          0.1267316627315656,
          -0.39885372361759025,
          0.15583000961902232,
          0.9932262732182753,
          -0.6720412508107849
        ],
        "eef_pose_l": [
          456.42806919211955,
          396.85670044315566,
          68.1223694670538,
          1.7643839023613415,
          0.015178708089315388,
          0.8454408547133765
        ],
        "eef_pose_r": [
          613.9281774683075,
          -258.26326732981744,
          17.16441986071021,
          1.5896014419668558,
          0.24672283663390562,
          2.414906786781956
        ],
        "joint_status_l": {
          "velocity": [
            -0.22831765122388603,
            -0.19342623463858288,
            0.06310402397835535,
            0.02585240576280512,
            0.3072127235779487,
            -0.30750614971619683,
            -0.42555605193506096
          ],
          "torque": [
            -23.408203125,
            9.58740234375,
            -12.0849609375,
            -2.691650390625,
            -2.4298095703125,
            -2.6788330078125,
            -0.48248291015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.14382853938466056,
            -2.254013444446201,
            -0.12981382589816182,
            4.177197322179804,
            0.43527648329289015,
            2.4603418199751204,
            -2.1079350545791797
          ],
          "torque": [
            37.3095703125,
            -0.2197265625,
            5.95703125,
            -0.927734375,
            4.9310302734375,
            3.7518310546875,
            -0.79193115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.2,
            -16.2,
            -5.7,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.2,
            -16.2,
            -5.7,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -17.5,
            -2.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.5,
            -2.0,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -295,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44039898144677536,
          -0.29761753058032303,
          -0.1347147187940583,
          -1.3223166839670255,
          -0.02405034274754368,
          -0.67100142441456,
          0.2386604230615452
        ],
        "act_joint_pos_r": [
          -0.4172282478682417,
          -1.0880011333679012,
          0.1255702069439374,
          -0.36230532577055197,
          0.16101156782887704,
          1.0158341046941857,
          -0.6932451178798432
        ],
        "act_eef_pose_l": [
          456.8686875079824,
          395.22629076978365,
          68.9444314478879,
          1.7638373440622344,
          0.016483726050109802,
          0.8400422665109217
        ],
        "act_eef_pose_r": [
          615.0942644042035,
          -255.11074812687872,
          15.14894334691985,
          1.584351512928688,
          0.26314208825747387,
          2.418205729077469
        ],
        "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": [
          0.44404180629692025,
          -0.29519675159903447,
          -0.13551151128230646,
          -1.3228645579731253,
          -0.028671999333282298,
          -0.6683979224351623,
          0.24417307598601923
        ],
        "joint_pos_r": [
          -0.41561707365702105,
          -1.0709167916640039,
          0.1265090141186351,
          -0.39178238969657225,
          0.15672180892339946,
          0.9975132329252113,
          -0.6759211520699557
        ],
        "eef_pose_l": [
          456.4735902372143,
          396.61978241744424,
          68.22405034769761,
          1.7642928081229792,
          0.01542270042511795,
          0.8446404369372119
        ],
        "eef_pose_r": [
          614.1633023585987,
          -257.7614509712739,
          16.8035516915906,
          1.5887597196935994,
          0.2495909959604873,
          2.4154245521582443
        ],
        "joint_status_l": {
          "velocity": [
            -0.39341348070554005,
            -0.2614364193238572,
            0.08605105079073638,
            0.05916864757260498,
            0.4991241903786747,
            -0.28116992111115735,
            -0.5953489569643367
          ],
          "torque": [
            -25.05615234375,
            8.32763671875,
            -11.81640625,
            -0.518798828125,
            -2.0123291015625,
            -2.3602294921875,
            -0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.17400168290615525,
            -1.845054487047193,
            -0.10138818458282906,
            3.1834290137906507,
            0.46328029806952387,
            1.9785957954852051,
            -1.8709331272450669
          ],
          "torque": [
            32.8271484375,
            0.8642578125,
            5.62744140625,
            0.067138671875,
            5.01708984375,
            3.3050537109375,
            -0.648193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.3,
            -7.1,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.3,
            -7.1,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.9,
            -1.7,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.9,
            -1.7,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -318,
          "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": [
          0.4397356722240823,
          -0.2984108174486874,
          -0.13439382780742015,
          -1.32073430607275,
          -0.024955007338027156,
          -0.6732653016705569,
          0.2394010986567847
        ],
        "act_joint_pos_r": [
          -0.41790975850482326,
          -1.090981542340549,
          0.12541621412123338,
          -0.35706892341653484,
          0.16027766504425503,
          1.0207908960991567,
          -0.6942372226600436
        ],
        "act_eef_pose_l": [
          457.01508750798234,
          395.1126907697836,
          69.19403144788777,
          1.76265601053434,
          0.016478033405076913,
          0.8387540428317325
        ],
        "act_eef_pose_r": [
          614.8494644042036,
          -254.3923481268787,
          14.530543346919785,
          1.5842962113441965,
          0.2639524953804474,
          2.4208829736792556
        ],
        "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": [
          0.443287201141347,
          -0.2957332730259666,
          -0.1353289704706409,
          -1.3226035979331305,
          -0.027888317518858303,
          -0.6691152578551004,
          0.24320465162759367
        ],
        "joint_pos_r": [
          -0.4159788463870337,
          -1.074273764668166,
          0.12632564813272626,
          -0.3859797065555728,
          0.15739745869957072,
          1.001311855413983,
          -0.6790961267718871
        ],
        "eef_pose_l": [
          456.5633971375404,
          396.34484747993775,
          68.38502139216573,
          1.7640859666660964,
          0.015624150357570393,
          0.8436432419508533
        ],
        "eef_pose_r": [
          614.3112513349527,
          -257.2153944617664,
          16.43651411161221,
          1.587979177000085,
          0.2520647020097598,
          2.4162304469039566
        ],
        "joint_status_l": {
          "velocity": [
            -0.3835538107499481,
            -0.28916626915043153,
            0.10099242901551175,
            0.20187756686063096,
            0.3167881563625463,
            -0.44819151336650265,
            -0.4107716057863975
          ],
          "torque": [
            -26.1328125,
            7.33154296875,
            -11.3037109375,
            -0.531005859375,
            -1.75048828125,
            -2.5341796875,
            -0.5987548828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.20853235838824702,
            -1.8043867710737516,
            -0.09821597651593628,
            3.122272492511513,
            0.3110531112047177,
            2.103674349439366,
            -1.6351901285656112
          ],
          "torque": [
            32.17529296875,
            -0.84228515625,
            5.303955078125,
            -0.262451171875,
            5.035400390625,
            3.4625244140625,
            -0.67474365234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.5,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.5,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.1,
            -1.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.1,
            -1.6,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 164,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4421823099598924,
          -0.29905165118168214,
          -0.13379403480782556,
          -1.311914179387347,
          -0.026613428445641244,
          -0.6819035233786473,
          0.24184123286109876
        ],
        "act_joint_pos_r": [
          -0.41772005816039925,
          -1.0935096609943598,
          0.12526401262940162,
          -0.3513701709514103,
          0.16034333070956608,
          1.0254531072183866,
          -0.6937992640416372
        ],
        "act_eef_pose_l": [
          456.8278875079824,
          396.88389076978365,
          67.91883144788795,
          1.7636931191237506,
          0.017222920338063864,
          0.8383431397141475
        ],
        "act_eef_pose_r": [
          614.8998644042035,
          -254.2027481268787,
          14.517743346919815,
          1.583429434865412,
          0.2637670913165423,
          2.4219296537064268
        ],
        "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": [
          0.4429134779329448,
          -0.29622848739715585,
          -0.13512372364132308,
          -1.3215387709165873,
          -0.027548529925749774,
          -0.6705394067912068,
          0.24278893827876366
        ],
        "joint_pos_r": [
          -0.4161884068203899,
          -1.076270119158872,
          0.12621634234556797,
          -0.38246711798169175,
          0.1577253524867224,
          1.003714628291464,
          -0.6807854614035093
        ],
        "eef_pose_l": [
          456.6224873701099,
          396.29432972475126,
          68.40834639938166,
          1.763938143701568,
          0.015828855237573335,
          0.8428046082883051
        ],
        "eef_pose_r": [
          614.3810103610805,
          -256.8907143789793,
          16.2180608195267,
          1.5875279742315804,
          0.253390279684134,
          2.416807374458269
        ],
        "joint_status_l": {
          "velocity": [
            -0.0789638121765357,
            -0.30489269639932814,
            0.14360215869857473,
            1.0394252289493977,
            0.10098798137045395,
            -1.227288394506587,
            -0.10234916648066417
          ],
          "torque": [
            -26.63818359375,
            6.8994140625,
            -10.992431640625,
            0.146484375,
            -1.658935546875,
            -2.6422119140625,
            -0.545654296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1654134661115414,
            -1.8618156069161174,
            -0.10284857598941155,
            3.3583712294058543,
            0.28273330929384777,
            2.347686482796263,
            -1.4054492334079072
          ],
          "torque": [
            32.080078125,
            0.72509765625,
            5.38330078125,
            0.189208984375,
            5.130615234375,
            3.3837890625,
            -0.6353759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.5,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.5,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -17.0,
            -1.7,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -17.0,
            -1.7,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -377,
          "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": [
          0.4423050762646316,
          -0.29930800223824083,
          -0.13362379919063472,
          -1.3098871906797345,
          -0.025952857274444144,
          -0.6838636430017135,
          0.2407409527915349
        ],
        "act_joint_pos_r": [
          -0.4191656146665034,
          -1.0888687395441532,
          0.12563572780209495,
          -0.3664005644433327,
          0.16239975606833434,
          1.0186798247161934,
          -0.6962317736197292
        ],
        "act_eef_pose_l": [
          456.82388750798236,
          397.23349076978366,
          67.67883144788794,
          1.7642444672350233,
          0.01801016847449495,
          0.8381742573307179
        ],
        "act_eef_pose_r": [
          613.9782644042035,
          -252.8163481268787,
          14.761743346919957,
          1.5815739773015804,
          0.26307904716308717,
          2.4241797981194284
        ],
        "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": [
          0.44280041125171316,
          -0.2967074988618267,
          -0.13489523664319195,
          -1.3198387450767786,
          -0.0273564179545524,
          -0.6725215166898454,
          0.2425692028893661
        ],
        "joint_pos_r": [
          -0.4164616771821048,
          -1.0790352776412364,
          0.12606530568316926,
          -0.3775782043505564,
          0.15818628449794242,
          1.0071877144096588,
          -0.6829610052703737
        ],
        "eef_pose_l": [
          456.65722177025344,
          396.41153867672375,
          68.31375555719112,
          1.763928601239443,
          0.016103190367919108,
          0.8420616686015016
        ],
        "eef_pose_r": [
          614.4613068962336,
          -256.4308522315569,
          15.938528628084441,
          1.5868298676750514,
          0.25507601056461576,
          2.4176905642823106
        ],
        "joint_status_l": {
          "velocity": [
            -0.053494600865899855,
            -0.2808460815404423,
            0.13731119509907685,
            1.074736177232083,
            0.1515800828361391,
            -1.2249135147888168,
            -0.19744518723130433
          ],
          "torque": [
            -24.52880859375,
            6.181640625,
            -10.882568359375,
            0.567626953125,
            -1.6058349609375,
            -2.9132080078125,
            -0.48065185546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2920166357447407,
            -1.0619825640132419,
            -0.04639304286635504,
            1.2071495070085092,
            0.45504150887043515,
            1.2411113084844771,
            -1.4332007117348056
          ],
          "torque": [
            31.0546875,
            0.0439453125,
            5.194091796875,
            -0.628662109375,
            5.0628662109375,
            3.369140625,
            -0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.2,
            -6.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.2,
            -6.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -16.9,
            -1.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.9,
            -1.6,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -383,
          "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": [
          0.4425706405178899,
          -0.29879148150914825,
          -0.13388947819131178,
          -1.3121604808509986,
          -0.024372894351384355,
          -0.6809727120037898,
          0.2386901318771622
        ],
        "act_joint_pos_r": [
          -0.4197080018806658,
          -1.091236241744689,
          0.12557074226702805,
          -0.3655666492127552,
          0.1635262915665554,
          1.0215959328269293,
          -0.6962327113566241
        ],
        "act_eef_pose_l": [
          456.73508750798237,
          397.03829076978366,
          67.49323144788792,
          1.7655209957226108,
          0.018682490408798602,
          0.8391895765204861
        ],
        "act_eef_pose_r": [
          613.6686644042035,
          -251.27954812687872,
          14.7433433469198,
          1.5793686127258035,
          0.26156746722289537,
          2.427255298850203
        ],
        "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": [
          0.44274629872479826,
          -0.2971021968922058,
          -0.13470391713636617,
          -1.318365710526629,
          -0.026909146986794703,
          -0.6741625798878065,
          0.24198750492983565
        ],
        "joint_pos_r": [
          -0.4169452989607564,
          -1.0808225539662455,
          0.12598999951222808,
          -0.3756805257325336,
          0.15896018475302826,
          1.009287220242196,
          -0.6851427253088025
        ],
        "eef_pose_l": [
          456.6764318935932,
          396.53223266082045,
          68.1782701867582,
          1.7641429500479795,
          0.016523406884087637,
          0.8415021191613896
        ],
        "eef_pose_r": [
          614.3628285211241,
          -255.72504089352674,
          15.741659350666936,
          1.5858160290127814,
          0.25627637161597544,
          2.4189929405331068
        ],
        "joint_status_l": {
          "velocity": [
            -0.018970526840522695,
            -0.18243735792733418,
            0.08795681191842153,
            0.6701450400967701,
            0.27390720616310427,
            -0.7354725769221915,
            -0.35610578690992156
          ],
          "torque": [
            -25.94970703125,
            6.43798828125,
            -10.68115234375,
            0.6103515625,
            -1.57470703125,
            -2.7978515625,
            -0.5877685546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.29836311560060835,
            -1.1246451104369726,
            -0.04527844706514461,
            1.0922664494597,
            0.49312499191667136,
            1.329301753491663,
            -1.197683169387176
          ],
          "torque": [
            30.7177734375,
            0.1904296875,
            7.9833984375,
            -0.1220703125,
            5.2166748046875,
            3.3050537109375,
            -0.5548095703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.4,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.4,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -17.2,
            -1.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -17.2,
            -1.5,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -333,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44196099051059784,
          -0.29769483327654006,
          -0.13469288109834984,
          -1.3222291866319018,
          -0.02197868750025418,
          -0.6709184337066408,
          0.23559102136842747
        ],
        "act_joint_pos_r": [
          -0.4198109989124644,
          -1.0930787200846341,
          0.1254551561221138,
          -0.3612905750396535,
          0.16376887897581668,
          1.026345515489663,
          -0.6951232912786974
        ],
        "act_eef_pose_l": [
          456.5830875079823,
          395.21909076978363,
          67.96043144788774,
          1.7662926940016876,
          0.01900350500860745,
          0.8401348046186383
        ],
        "act_eef_pose_r": [
          613.4958644042035,
          -251.0323481268787,
          14.72014334691994,
          1.5781920046923887,
          0.2603792149268881,
          2.428912635271082
        ],
        "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": [
          0.4426486267067392,
          -0.29725615852218884,
          -0.1346606854243755,
          -1.3184817808946383,
          -0.02622202982113195,
          -0.6741475806979164,
          0.24109571979831057
        ],
        "joint_pos_r": [
          -0.4174763982395525,
          -1.0829493699201493,
          0.12590081713193269,
          -0.3734013737558557,
          0.15984418307565082,
          1.0120219453007535,
          -0.6871438603822919
        ],
        "eef_pose_l": [
          456.6692371624638,
          396.4099593033511,
          68.11807955065913,
          1.7644570603212237,
          0.016915532137671708,
          0.841227387090834
        ],
        "eef_pose_r": [
          614.220833978166,
          -254.86220645496948,
          15.548345740685733,
          1.584506936815347,
          0.2571661152130814,
          2.420711282525193
        ],
        "joint_status_l": {
          "velocity": [
            -0.0742625189276147,
            -0.04737547620470295,
            -0.0034770302397291175,
            -0.40470788340307706,
            0.4582674547786991,
            0.34873758959275136,
            -0.5944898968852641
          ],
          "torque": [
            -27.37060546875,
            8.69384765625,
            -14.404296875,
            -3.5400390625,
            -1.505126953125,
            -1.0491943359375,
            -0.51361083984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2521294365140925,
            -1.0939375537999396,
            -0.048129969542842765,
            1.3079276860850086,
            0.42385465629313224,
            1.546899957026504,
            -0.8617531207617546
          ],
          "torque": [
            30.60791015625,
            0.673828125,
            5.670166015625,
            -0.634765625,
            5.39794921875,
            3.49365234375,
            -0.71044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -17.1,
            -1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -17.1,
            -1.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.4406916236148942,
          -0.2958864422500022,
          -0.13559653011448114,
          -1.3294260069354413,
          -0.020117926690186576,
          -0.6642935056027025,
          0.23187346298261163
        ],
        "act_joint_pos_r": [
          -0.41984630147298846,
          -1.0968396195231298,
          0.12525323645348674,
          -0.3544119466468931,
          0.16364532386568298,
          1.03260748595214,
          -0.6944005952507974
        ],
        "act_eef_pose_l": [
          456.3998875079824,
          394.3270907697837,
          68.89483144788784,
          1.7661533476483904,
          0.01965561682225419,
          0.8414830064101068
        ],
        "act_eef_pose_r": [
          613.4182644042035,
          -250.2627481268787,
          14.553743346919873,
          1.5769900636799121,
          0.25969683701310387,
          2.4314385323578693
        ],
        "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": [
          0.4423838079019795,
          -0.2971296559575969,
          -0.13476834819646924,
          -1.3199564632553153,
          -0.025261797721762364,
          -0.6728290647709569,
          0.23970294305389378
        ],
        "joint_pos_r": [
          -0.4178627410786801,
          -1.0848857552726991,
          0.1258129937791679,
          -0.3709144537931742,
          0.1604804762386133,
          1.0148281724588548,
          -0.6884035339608386
        ],
        "eef_pose_l": [
          456.6341018676368,
          396.09839072926644,
          68.19440864672575,
          1.7647702376725118,
          0.017363008721232212,
          0.8411839352537455
        ],
        "eef_pose_r": [
          614.1002803748557,
          -254.17627574058025,
          15.397800707881942,
          1.5833901767415632,
          0.2576366053366736,
          2.4222509185340924
        ],
        "joint_status_l": {
          "velocity": [
            -0.18275051306693157,
            0.13426312054143352,
            -0.0894410092237008,
            -1.0226805551010187,
            0.5555216871738211,
            0.9218132027442039,
            -0.8455589092717375
          ],
          "torque": [
            -27.48046875,
            11.44775390625,
            -16.607666015625,
            -3.7353515625,
            -1.380615234375,
            -0.7708740234375,
            -0.58685302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.21421820455724827,
            -1.2909792636479622,
            -0.06045200823689978,
            1.7822182080822202,
            0.3417934630640662,
            1.9201092266802888,
            -0.6476635175012291
          ],
          "torque": [
            30.087890625,
            -1.1279296875,
            4.833984375,
            -0.738525390625,
            4.8980712890625,
            3.4844970703125,
            -0.7177734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.3,
            -5.8,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.3,
            -5.8,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -16.3,
            -1.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.3,
            -1.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -320,
          "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": [
          0.4421832351655144,
          -0.2945131275107125,
          -0.13604283108667378,
          -1.3294968325305523,
          -0.02309532272941361,
          -0.6641566957653912,
          0.2335181978280837
        ],
        "act_joint_pos_r": [
          -0.4192079943193092,
          -1.1028728734615143,
          0.12491202223247018,
          -0.3421292424963739,
          0.1624906797492458,
          1.041665190822076,
          -0.6925786627443542
        ],
        "act_eef_pose_l": [
          456.14228750798236,
          395.0054907697836,
          68.84043144788785,
          1.7655041480866975,
          0.02060568548243219,
          0.8434159012661175
        ],
        "act_eef_pose_r": [
          613.6358644042035,
          -249.53714812687872,
          14.37374334691981,
          1.5762641893492544,
          0.2591440540854758,
          2.4341021899146607
        ],
        "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": [
          0.44225398414240236,
          -0.29678868039294976,
          -0.13494888885812775,
          -1.321520256755547,
          -0.024712316614470202,
          -0.6714122508326341,
          0.23857940692938348
        ],
        "joint_pos_r": [
          -0.4181674281702697,
          -1.087434307126481,
          0.12568942183615364,
          -0.3671110673473192,
          0.1609567960461683,
          1.0186247809137785,
          -0.68933250029467
        ],
        "eef_pose_l": [
          456.5706935345175,
          395.87457316133134,
          68.3032837934216,
          1.7649357401180157,
          0.017837402176272492,
          0.84142415055038
        ],
        "eef_pose_r": [
          614.0024457002957,
          -253.43210823073923,
          15.23246636556118,
          1.582211846645152,
          0.2579507485321257,
          2.4240733769334155
        ],
        "joint_status_l": {
          "velocity": [
            -0.007640664154706656,
            0.2457524632002439,
            -0.11814227626272267,
            -0.8614447767456568,
            0.17463018914401496,
            0.7835768368984475,
            -0.5465944619986729
          ],
          "torque": [
            -24.84375,
            12.37060546875,
            -17.425537109375,
            -4.010009765625,
            -1.4923095703125,
            -0.5474853515625,
            -0.53192138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.11237782968898102,
            -1.6673159893265677,
            -0.0839566810280079,
            2.6979575118986077,
            0.16565455421235775,
            2.488290881879074,
            -0.35057520490333616
          ],
          "torque": [
            30.25634765625,
            0.69580078125,
            5.218505859375,
            -0.848388671875,
            5.0775146484375,
            3.599853515625,
            -0.831298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -16.4,
            -0.9,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.4,
            -0.9,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -347,
          "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": [
          0.44412940969951537,
          -0.2935824063884551,
          -0.1362657407874866,
          -1.3277515152023667,
          -0.025856051322141117,
          -0.6649101448450082,
          0.23586414487147023
        ],
        "act_joint_pos_r": [
          -0.4193809531492505,
          -1.105255093758134,
          0.12478776136293784,
          -0.33767448817678924,
          0.16386221211647053,
          1.0446082412769935,
          -0.6929703768888653
        ],
        "act_eef_pose_l": [
          455.9790875079824,
          396.03109076978365,
          68.37243144788778,
          1.765596927681299,
          0.021039807958158737,
          0.8456192892575517
        ],
        "act_eef_pose_r": [
          613.7798644042035,
          -249.2731481268787,
          14.31534334691969,
          1.5749118728270488,
          0.2587431723002867,
          2.43400933935906
        ],
        "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": [
          0.44243505177324416,
          -0.29629376914763944,
          -0.1351644787994917,
          -1.322756984069493,
          -0.0247010149309469,
          -0.670204349664919,
          0.2379178827092327
        ],
        "joint_pos_r": [
          -0.41836387964750776,
          -1.0903357376951062,
          0.125543011624667,
          -0.36237287511608257,
          0.16132688946206689,
          1.0229107181697898,
          -0.6899346923809606
        ],
        "eef_pose_l": [
          456.4791217374487,
          395.8230093329743,
          68.35140369064837,
          1.765045273996156,
          0.01837092343540527,
          0.8419952683530026
        ],
        "eef_pose_r": [
          613.9568077190893,
          -252.7254905020381,
          15.07284278651872,
          1.581065880036364,
          0.2581214699947892,
          2.4258429429602812
        ],
        "joint_status_l": {
          "velocity": [
            0.1829852591752612,
            0.29281854177121147,
            -0.11893278696839538,
            -0.5393934537902823,
            -0.12474025123190846,
            0.5717572574717167,
            -0.22179714492120972
          ],
          "torque": [
            -20.64697265625,
            13.46923828125,
            -17.96875,
            -4.69970703125,
            -3.2391357421875,
            -0.5255126953125,
            -0.58502197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.10984069860953127,
            -1.6112429337358236,
            -0.08156462264685693,
            2.6673471202456334,
            0.2738067711764991,
            2.3432633847191298,
            -0.3278442576037932
          ],
          "torque": [
            30.322265625,
            -0.234375,
            5.70068359375,
            -0.128173828125,
            5.2496337890625,
            3.4185791015625,
            -0.831298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.6,
            -7.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.6,
            -7.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -16.7,
            -1.7,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -1.7,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -358,
          "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": [
          0.44496002406243784,
          -0.2888724084437473,
          -0.13849271925179396,
          -1.3419873168536862,
          -0.023529894368941998,
          -0.6538560290578911,
          0.23319390611743224
        ],
        "act_joint_pos_r": [
          -0.41979514222137654,
          -1.105893853189632,
          0.1247534492175739,
          -0.33628010663355473,
          0.1650559372123408,
          1.0453793630482868,
          -0.6933503675107023
        ],
        "act_eef_pose_l": [
          454.7798875079824,
          394.5030907697836,
          69.22043144788796,
          1.7664305045867477,
          0.020796604724232195,
          0.8469291698873117
        ],
        "act_eef_pose_r": [
          613.8126644042035,
          -249.3139481268787,
          14.18734334691976,
          1.5742049220837364,
          0.2582487323941984,
          2.433393302366066
        ],
        "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": [
          0.44278493434201693,
          -0.29544351153793974,
          -0.13553678709165493,
          -1.3248007157411266,
          -0.02469111353999526,
          -0.6683846148586552,
          0.23735092203889036
        ],
        "joint_pos_r": [
          -0.41855515022590895,
          -1.092825528426076,
          0.12541685813248965,
          -0.358231548276741,
          0.1618130517914477,
          1.0265224994987285,
          -0.6904558259300089
        ],
        "eef_pose_l": [
          456.2952959710464,
          395.72654106803697,
          68.42664794006095,
          1.765207534370081,
          0.01879157753566811,
          0.8427037353148852
        ],
        "eef_pose_r": [
          613.9365301933213,
          -252.1612673130805,
          14.93776170880139,
          1.5800165931364307,
          0.2581841338412273,
          2.427152808562474
        ],
        "joint_status_l": {
          "velocity": [
            0.2349027617185584,
            0.7096582039229915,
            -0.31923125807231667,
            -1.856098177468013,
            0.12540797176335827,
            1.569040990092141,
            -0.44894447860799325
          ],
          "torque": [
            -18.66943359375,
            14.00390625,
            -18.157958984375,
            -5.023193359375,
            -1.527099609375,
            -0.4302978515625,
            -0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1339151858932297,
            -1.4113374492907838,
            -0.07164604972376143,
            2.3706857778247326,
            0.3502212962314122,
            2.0364812005491117,
            -0.3126012710330528
          ],
          "torque": [
            30.0439453125,
            0.31494140625,
            6.43310546875,
            -0.543212890625,
            5.4052734375,
            3.369140625,
            -0.78369140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -17.0,
            -1.4,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -17.0,
            -1.4,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -322,
          "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": [
          0.4452662368732444,
          -0.28769911798436193,
          -0.13907117199836574,
          -1.3456624964648092,
          -0.02322051236175731,
          -0.6505039099557225,
          0.23274513851879136
        ],
        "act_joint_pos_r": [
          -0.4201513870787785,
          -1.1063827947935831,
          0.12473970397658657,
          -0.33593151431501683,
          0.16557060871672835,
          1.0461454566536263,
          -0.6933911551882639
        ],
        "act_eef_pose_l": [
          454.53268750798236,
          394.1662907697837,
          69.40763144788781,
          1.766648450435231,
          0.020687612889023262,
          0.8477442496063932
        ],
        "act_eef_pose_r": [
          613.7078644042035,
          -249.0531481268787,
          14.079343346919813,
          1.5736715085780297,
          0.2576835323640558,
          2.4338912151340995
        ],
        "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": [
          0.443172966467454,
          -0.29424655126129917,
          -0.13608026447300486,
          -1.3279916652965573,
          -0.02446944177974125,
          -0.6656627639033841,
          0.2366228912481961
        ],
        "joint_pos_r": [
          -0.41880007711242884,
          -1.0951713716540614,
          0.1252985708031543,
          -0.35432521473308964,
          0.1624235299121411,
          1.0299117881921498,
          -0.6909705460787137
        ],
        "eef_pose_l": [
          456.0240207991622,
          395.4928196173634,
          68.57389534364575,
          1.7654313422500691,
          0.0191153177687842,
          0.8434798287975197
        ],
        "eef_pose_r": [
          613.912626687086,
          -251.63969981279425,
          14.794567213445703,
          1.578954585040282,
          0.25814464399603815,
          2.4282954481594783
        ],
        "joint_status_l": {
          "velocity": [
            0.22606653634937857,
            0.7071019390525457,
            -0.32300848611277466,
            -1.9083934811146008,
            0.1348803990575409,
            1.6371079424297719,
            -0.41878494337410643
          ],
          "torque": [
            -17.74658203125,
            15.5712890625,
            -18.328857421875,
            -4.180908203125,
            -1.4794921875,
            -0.406494140625,
            -0.54840087890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.14593717217881164,
            -1.2107979884898867,
            -0.060355837169012716,
            1.9864610576147967,
            0.3398744868330361,
            1.7531844864260293,
            -0.26141807371704573
          ],
          "torque": [
            30.2783203125,
            -1.201171875,
            6.781005859375,
            -0.8056640625,
            5.33935546875,
            3.4954833984375,
            -0.71044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.5,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.5,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -17.0,
            -2.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -17.0,
            -2.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.44535602713762007,
          -0.2868423200078815,
          -0.13939781485019215,
          -1.3461159799422293,
          -0.02203054768062227,
          -0.6499587062881872,
          0.2306052091389451
        ],
        "act_joint_pos_r": [
          -0.420477169188373,
          -1.110881131856914,
          0.12453659459711094,
          -0.32929996200797196,
          0.16676551086819336,
          1.0508181596442265,
          -0.6929905762241426
        ],
        "act_eef_pose_l": [
          454.3902875079824,
          394.4782907697837,
          69.4180314478877,
          1.7674028612332695,
          0.02151699786197822,
          0.8487152868901002
        ],
        "act_eef_pose_r": [
          613.8318644042035,
          -247.9691481268787,
          13.831343346919766,
          1.5719690450448025,
          0.2562433992178379,
          2.435278228783489
        ],
        "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": [
          0.4435776031975096,
          -0.2929236220147669,
          -0.13667814649285043,
          -1.3313772134312636,
          -0.024114987732256343,
          -0.662742949637816,
          0.23567700368912262
        ],
        "joint_pos_r": [
          -0.4190624895346668,
          -1.0974779834871862,
          0.12518511390842677,
          -0.3505949073467327,
          0.16306611443669208,
          1.0331189473083793,
          -0.6913696476755642
        ],
        "eef_pose_l": [
          455.7301084496996,
          395.2739765996384,
          68.73053926000586,
          1.7657386587642816,
          0.01950090898101363,
          0.8443824809917534
        ],
        "eef_pose_r": [
          613.8906822416851,
          -251.10485165976328,
          14.647542976341441,
          1.577901806145087,
          0.25794930753321416,
          2.4293876891117994
        ],
        "joint_status_l": {
          "velocity": [
            0.1920641209034457,
            0.6567612466059636,
            -0.29371551991663747,
            -1.5917398373268554,
            0.2251128862268137,
            1.3806575614419003,
            -0.5477376567606385
          ],
          "torque": [
            -17.724609375,
            15.146484375,
            -18.9453125,
            -4.254150390625,
            -1.47216796875,
            -0.1483154296875,
            -0.54931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.15278089656867166,
            -1.4474973322782247,
            -0.07003801996119385,
            2.2997862680158576,
            0.3995230313000864,
            1.911458556814516,
            -0.1750551202714945
          ],
          "torque": [
            30.439453125,
            0.78369140625,
            5.511474609375,
            0.0,
            5.3448486328125,
            3.2977294921875,
            -0.71868896484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.7,
            -1.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.7,
            -1.6,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -354,
          "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": [
          0.44239354844842943,
          -0.28741985525288777,
          -0.138984717802768,
          -1.341317117031281,
          -0.014395725230481077,
          -0.656154523140388,
          0.22265381554983585
        ],
        "act_joint_pos_r": [
          -0.4199935166356199,
          -1.116590199853686,
          0.12423945703520166,
          -0.31835576565662194,
          0.16663371878112354,
          1.0587559248696754,
          -0.6913152167077897
        ],
        "act_eef_pose_l": [
          454.4646875079824,
          395.0406907697836,
          69.68363144788788,
          1.7694775198889765,
          0.02219552032508239,
          0.8461178062010435
        ],
        "act_eef_pose_r": [
          614.0494644042035,
          -247.1555481268787,
          13.76334334692001,
          1.5706045302296532,
          0.25513317705573724,
          2.43733667063029
        ],
        "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": [
          0.44361553277373694,
          -0.29197348643644105,
          -0.13708976809255935,
          -1.3333880434477638,
          -0.023116592228287977,
          -0.6611734127022927,
          0.23416031205362442
        ],
        "joint_pos_r": [
          -0.4192777445958929,
          -1.1002594065841262,
          0.12504902610432314,
          -0.3460406862912472,
          0.16371069638663033,
          1.0368206435986302,
          -0.6915354451195106
        ],
        "eef_pose_l": [
          455.5168371372626,
          395.19159618131584,
          68.86517549989034,
          1.7661938589671118,
          0.019896404744863778,
          0.8448682175393198
        ],
        "eef_pose_r": [
          613.9037319998852,
          -250.49322357177198,
          14.494680142176634,
          1.5767576497708897,
          0.25755522151237076,
          2.4305787219975317
        ],
        "joint_status_l": {
          "velocity": [
            -0.13197041487433836,
            0.4917776636172988,
            -0.2046485329165737,
            -0.8563146913669328,
            0.9418258580943251,
            0.5420240865401382,
            -1.242664971965013
          ],
          "torque": [
            -23.349609375,
            15.15380859375,
            -18.914794921875,
            -4.0771484375,
            -1.376953125,
            -0.3936767578125,
            -0.6005859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.07730110041626048,
            -1.7636736563382271,
            -0.08743088082918682,
            2.9898832466468406,
            0.31567710820668005,
            2.368940509106743,
            0.023783966995871708
          ],
          "torque": [
            30.93017578125,
            -0.15380859375,
            5.029296875,
            -0.91552734375,
            5.33203125,
            3.3563232421875,
            -0.0933837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.7,
            -6.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.7,
            -6.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -16.8,
            -1.7,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.8,
            -1.7,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -330,
          "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": [
          0.4433368932902372,
          -0.2853880964686609,
          -0.13966244450446139,
          -1.3407149699711216,
          -0.01679306661616935,
          -0.6556813532334729,
          0.22442680004364848
        ],
        "act_joint_pos_r": [
          -0.42011829724359556,
          -1.1163164991609469,
          0.1242849390675391,
          -0.3205462174937581,
          0.16714235364736132,
          1.0582757317303548,
          -0.6914798568699254
        ],
        "act_eef_pose_l": [
          454.3246875079824,
          396.3366907697837,
          69.89323144788779,
          1.76899474390199,
          0.021713794634648818,
          0.8494219676971893
        ],
        "act_eef_pose_r": [
          613.8894644042035,
          -246.6491481268787,
          13.920943346920012,
          1.56975125243344,
          0.25470003968071775,
          2.4382655242329476
        ],
        "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": [
          0.44349330565783496,
          -0.29096627686133136,
          -0.13749222135597633,
          -1.3347300776374673,
          -0.021813121674026287,
          -0.6602389668932599,
          0.23230221699907885
        ],
        "joint_pos_r": [
          -0.41940441108110793,
          -1.1029243785374527,
          0.12491921605899277,
          -0.34164734986019796,
          0.16422790109945576,
          1.0403920787753786,
          -0.6915111114392689
        ],
        "eef_pose_l": [
          455.3169785015619,
          395.2939454774447,
          69.02988726746881,
          1.76673005417127,
          0.02026004399843986,
          0.8454137818732568
        ],
        "eef_pose_r": [
          613.9236850677026,
          -249.9094584015805,
          14.382395128664712,
          1.575686628061533,
          0.25711441828160386,
          2.4317564412948345
        ],
        "joint_status_l": {
          "velocity": [
            -0.016892037496774037,
            0.6024257148116163,
            -0.23437718745067393,
            -0.646349308981442,
            0.5421499563903198,
            0.4922077583655593,
            -0.8505199464416968
          ],
          "torque": [
            -21.45263671875,
            16.50146484375,
            -19.500732421875,
            -4.339599609375,
            -1.3494873046875,
            -0.3607177734375,
            -0.5712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.07709743168105021,
            -1.4463063708101132,
            -0.06849989478063812,
            2.278855084338005,
            0.314751592071838,
            1.931377556200431,
            0.0033753939376879316
          ],
          "torque": [
            31.12060546875,
            -0.0439453125,
            4.74853515625,
            -1.220703125,
            5.4766845703125,
            3.3892822265625,
            0.0054931640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.5,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.5,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.9,
            -1.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.9,
            -1.5,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -322,
          "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": [
          0.44581097688502724,
          -0.28402340715410407,
          -0.1400766283036305,
          -1.3392956846999382,
          -0.01833706987627458,
          -0.657502011866493,
          0.2256845435037395
        ],
        "act_joint_pos_r": [
          -0.4194560925872919,
          -1.1178070495971233,
          0.12416002142799921,
          -0.3147484992357503,
          0.16594990508443178,
          1.0609235135000052,
          -0.6903175288408184
        ],
        "act_eef_pose_l": [
          453.81668750798235,
          397.2686907697837,
          69.22203144788779,
          1.769843441540173,
          0.022705840431605475,
          0.8505618385698466
        ],
        "act_eef_pose_r": [
          614.2102644042035,
          -247.3387481268787,
          13.843343346919937,
          1.5708202989241147,
          0.25509567127127997,
          2.437399696177191
        ],
        "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": [
          0.4436800809876069,
          -0.2899320425062781,
          -0.1378845684515212,
          -1.3355920694914936,
          -0.021120456079992793,
          -0.6596460852926002,
          0.23111555755691152
        ],
        "joint_pos_r": [
          -0.41947402452326943,
          -1.1052334520040676,
          0.12480593709943097,
          -0.33776039648422673,
          0.16462104587981247,
          1.0435229776128094,
          -0.6914221674505535
        ],
        "eef_pose_l": [
          455.1104834260966,
          395.54596553955633,
          69.11337813738066,
          1.7671764046442437,
          0.02058744032963619,
          0.8461691008594372
        ],
        "eef_pose_r": [
          613.94704748183,
          -249.42441596514422,
          14.298395306949146,
          1.5747886928615495,
          0.25673797700848866,
          2.4327632906136354
        ],
        "joint_status_l": {
          "velocity": [
            0.23012996960058985,
            0.6381137978745954,
            -0.2367354818879619,
            -0.39997864577046016,
            0.300596844371559,
            0.23155310072642266,
            -0.5865322188993716
          ],
          "torque": [
            -17.38037109375,
            15.87890625,
            -19.3359375,
            -4.754638671875,
            -1.2615966796875,
            -0.41748046875,
            -0.58319091796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.001936591969453616,
            -1.3579084906796268,
            -0.06975683514676145,
            2.485211605437243,
            0.14351256142197677,
            1.8792024517031436,
            0.11929745136107783
          ],
          "torque": [
            34.3359375,
            -0.34423828125,
            4.7607421875,
            0.152587890625,
            5.4327392578125,
            3.4954833984375,
            0.40283203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.5,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.5,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.2,
            -17.0,
            -1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -17.0,
            -1.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -358,
          "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": [
          0.4457826404297976,
          -0.2838763174378501,
          -0.14017740102243761,
          -1.3401835716540618,
          -0.017443871600186348,
          -0.6566302863939618,
          0.22453877677605524
        ],
        "act_joint_pos_r": [
          -0.419139913433193,
          -1.1173264499513405,
          0.12416813588398065,
          -0.31458089096589475,
          0.16505489678638652,
          1.0603646773014412,
          -0.6899211727727975
        ],
        "act_eef_pose_l": [
          453.7662875079824,
          397.1254907697837,
          69.18923144788783,
          1.770313689156249,
          0.023062086745215524,
          0.8506564903044186
        ],
        "act_eef_pose_r": [
          614.3110644042034,
          -247.7315481268787,
          13.838543346919778,
          1.571790248326121,
          0.2555264178881727,
          2.4368691694994156
        ],
        "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": [
          0.4440279566345323,
          -0.2889480574838333,
          -0.13825358781960115,
          -1.3362771834925773,
          -0.020586167268180768,
          -0.6592187407300413,
          0.2301243190160537
        ],
        "joint_pos_r": [
          -0.41944347940437965,
          -1.1075690514531902,
          0.12468453200460099,
          -0.3333958994645408,
          0.1647953809862936,
          1.046764327964369,
          -0.6911793084131745
        ],
        "eef_pose_l": [
          454.89369005972,
          395.8174246693293,
          69.12766691551928,
          1.7676554133222602,
          0.020969006409492005,
          0.8468983226583261
        ],
        "eef_pose_r": [
          614.0110217598029,
          -249.06550821173778,
          14.209867173432542,
          1.5741202038281779,
          0.25645947829545834,
          2.433592158182914
        ],
        "joint_status_l": {
          "velocity": [
            0.18950026087694027,
            0.5477317704816187,
            -0.20776569818459212,
            -0.4218774788284918,
            0.3393579233164634,
            0.27954482356307153,
            -0.6032207708741577
          ],
          "torque": [
            -16.29638671875,
            16.44287109375,
            -19.146728515625,
            -4.8583984375,
            -1.23046875,
            -0.4852294921875,
            -0.5657958984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.03278415797103307,
            -1.053767958575591,
            -0.0557691362043089,
            2.031960988368109,
            0.028026879801190674,
            1.4687944086277938,
            0.1358746417530199
          ],
          "torque": [
            34.79736328125,
            -0.28564453125,
            4.656982421875,
            -0.286865234375,
            4.4403076171875,
            3.3929443359375,
            0.3753662109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.4,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.4,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.7,
            -17.1,
            -1.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -17.1,
            -1.5,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4468639840818678,
          -0.2817017865899232,
          -0.14158728009455326,
          -1.3534127201906645,
          -0.01758191848449134,
          -0.645787211524336,
          0.22479386852061214
        ],
        "act_joint_pos_r": [
          -0.42030779696641307,
          -1.1062447312445385,
          0.12473110085610005,
          -0.3345375849269859,
          0.16514937584793543,
          1.0486183634808033,
          -0.6905513954022535
        ],
        "act_eef_pose_l": [
          453.0134875079824,
          394.74709076978365,
          69.67723144788789,
          1.770007695082145,
          0.022903765740390512,
          0.8504904253749793
        ],
        "act_eef_pose_r": [
          613.4494644042035,
          -249.3147481268787,
          14.012143346919856,
          1.5735826640644794,
          0.2551694053745565,
          2.4348401977385796
        ],
        "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": [
          0.44448167880454104,
          -0.2877439303595095,
          -0.13877635458315807,
          -1.3385084501712388,
          -0.020007734473727452,
          -0.6575058637013506,
          0.22909722969868485
        ],
        "joint_pos_r": [
          -0.4194938792543348,
          -1.108221359336034,
          0.12464798962061718,
          -0.3320167976083587,
          0.16484615858884075,
          1.047991319720913,
          -0.6910266039930225
        ],
        "eef_pose_l": [
          454.5967238045291,
          395.79708974597423,
          69.19269512006576,
          1.768125307399801,
          0.02135213347650137,
          0.8475893868031745
        ],
        "eef_pose_r": [
          613.9881026736311,
          -248.982737005578,
          14.163106791389907,
          1.5738903394054136,
          0.25627430426861497,
          2.4339558606855975
        ],
        "joint_status_l": {
          "velocity": [
            0.2572813818422226,
            0.6525322817045875,
            -0.30357100188249664,
            -1.6096136890784152,
            0.26198040013863944,
            1.2655771089162826,
            -0.4647493001839198
          ],
          "torque": [
            -16.58203125,
            15.8056640625,
            -18.76220703125,
            -4.437255859375,
            -1.2249755859375,
            -0.2691650390625,
            -0.53192138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.08790052041707241,
            0.21346953793432988,
            0.00897574870661888,
            -0.27223700121048466,
            0.03274649817597286,
            0.06771872881028429,
            0.05132101417082424
          ],
          "torque": [
            31.1279296875,
            5.73486328125,
            7.36083984375,
            -3.607177734375,
            4.6087646484375,
            3.2940673828125,
            -0.09429931640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.7,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.7,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.4,
            -17.1,
            -2.7,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -17.1,
            -2.7,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -303,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.44628916801656837,
          -0.2820446418704405,
          -0.14133400404031177,
          -1.3504860510541188,
          -0.015944321475618178,
          -0.6476554729174386,
          0.2232725266081941
        ],
        "act_joint_pos_r": [
          -0.42643760330075103,
          -1.0624150672212014,
          0.12723118907382377,
          -0.41757757453937516,
          0.18842510525563852,
          0.9903742067957727,
          -0.7167282485643004
        ],
        "act_eef_pose_l": [
          453.22388750798234,
          395.4102907697836,
          69.5404314478879,
          1.770880526103893,
          0.02276740366187405,
          0.8509855272075555
        ],
        "act_eef_pose_r": [
          611.6806644042034,
          -256.4651481268787,
          16.88894334691986,
          1.5676055163074805,
          0.26351937411252546,
          2.408436985167277
        ],
        "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": [
          0.44479393246886334,
          -0.2868562090436445,
          -0.13918128643286698,
          -1.3405194856362759,
          -0.019498861100889178,
          -0.6558874871144712,
          0.22831333886031835
        ],
        "joint_pos_r": [
          -0.41997362969339336,
          -1.1053743845409796,
          0.12480588508717542,
          -0.3372248766990241,
          0.16624473311579666,
          1.0447019464469494,
          -0.69247560097907
        ],
        "eef_pose_l": [
          454.3751838775152,
          395.695146733071,
          69.25312211876573,
          1.7684885797545968,
          0.021580610158867034,
          0.8480716256347487
        ],
        "eef_pose_r": [
          613.8312315868993,
          -249.45771863448536,
          14.30531166622626,
          1.5734387627708704,
          0.25663611026394767,
          2.4325300547324784
        ],
        "joint_status_l": {
          "velocity": [
            0.16148067653398712,
            0.5196339289224028,
            -0.23248664477693026,
            -1.076357319663046,
            0.38387895762462265,
            0.8890313127034588,
            -0.544391667255395
          ],
          "torque": [
            -15.8935546875,
            16.11328125,
            -18.414306640625,
            -4.248046875,
            -1.142578125,
            -0.1593017578125,
            -0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6980885605729625,
            4.639469436700239,
            0.2619251054899463,
            -8.677835427683078,
            2.3954095422749067,
            -5.867222837839137,
            -2.619208689774055
          ],
          "torque": [
            29.58251953125,
            17.58544921875,
            10.247802734375,
            -14.58740234375,
            6.3702392578125,
            -0.069580078125,
            -0.0091552734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.2,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.3,
            -16.5,
            -5.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.3,
            -16.5,
            -5.1,
            1.0,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -312,
          "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": [
          0.44423971346321284,
          -0.28318090179260386,
          -0.1402630831095174,
          -1.3364259361488875,
          -0.011756944927859024,
          -0.6626335242543601,
          0.21980137833153415
        ],
        "act_joint_pos_r": [
          -0.4313462981194909,
          -0.9997623662446202,
          0.13138917871879688,
          -0.533364473395542,
          0.21318684581236402,
          0.9172809584852385,
          -0.7453223404631346
        ],
        "act_eef_pose_l": [
          453.4414875079824,
          397.9438907697837,
          69.37163144788798,
          1.7720719643718863,
          0.022574695002453963,
          0.8484223069870985
        ],
        "act_eef_pose_r": [
          606.8582644042035,
          -265.4971481268787,
          23.019343346919868,
          1.5619339144781585,
          0.27255838514022757,
          2.38158295430278
        ],
        "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": [
          0.44485445327130674,
          -0.2861185018402593,
          -0.13945538563614546,
          -1.3408831660102367,
          -0.018453890354586146,
          -0.6559217927120444,
          0.22707682240876398
        ],
        "joint_pos_r": [
          -0.4214704400491875,
          -1.0932614467892898,
          0.1255344975453261,
          -0.3597803470667699,
          0.17195177417123025,
          1.0298261943344118,
          -0.6988253569876256
        ],
        "eef_pose_l": [
          454.19428853902065,
          395.8967812182025,
          69.28718880227359,
          1.769026996177717,
          0.0217705577396375,
          0.8483299028570663
        ],
        "eef_pose_r": [
          613.3047093904968,
          -251.4220942842118,
          15.183009218419414,
          1.5716191031068076,
          0.2587659112494381,
          2.426143916513001
        ],
        "joint_status_l": {
          "velocity": [
            -0.06638994120766739,
            0.3172514483158473,
            -0.08722875444944211,
            0.48136662787712226,
            0.7232487750041539,
            -0.7248456283912574,
            -0.7857247866269734
          ],
          "torque": [
            -21.97265625,
            15.02197265625,
            -18.56689453125,
            0.03662109375,
            -1.2030029296875,
            -1.864013671875,
            -0.57769775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0665612150511095,
            10.09760288594741,
            0.6322869184289814,
            -18.746532744078337,
            4.453256395465788,
            -12.154526993099601,
            -5.021526113358377
          ],
          "torque": [
            32.138671875,
            10.927734375,
            11.2060546875,
            -9.7900390625,
            5.6561279296875,
            1.1077880859375,
            -1.2359619140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.3,
            -8.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.7,
            -16.3,
            -8.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -18.3,
            -2.4,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -18.3,
            -2.4,
            0.9,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "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": [
          0.443734166628913,
          -0.28477295765505417,
          -0.1394118287763002,
          -1.3302028163988806,
          -0.016423151648250277,
          -0.670847872846949,
          0.22312711502929175
        ],
        "act_joint_pos_r": [
          -0.43642211257933194,
          -0.9368333711576795,
          0.13637701044007813,
          -0.6446503642330594,
          0.23606499553076565,
          0.8535431714968936,
          -0.7757824837875371
        ],
        "act_eef_pose_l": [
          453.64148750798233,
          398.3438907697837,
          69.7428314478878,
          1.7686475754432789,
          0.023669598149052708,
          0.8456683420908158
        ],
        "act_eef_pose_r": [
          599.5470644042035,
          -274.3171481268787,
          29.732143346919884,
          1.557117683945113,
          0.28391051898582553,
          2.360191074307577
        ],
        "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": [
          0.44468871477302674,
          -0.28577876153386894,
          -0.13950213539741826,
          -1.339392855896463,
          -0.01779636204252392,
          -0.6580354135610382,
          0.22616574824993935
        ],
        "joint_pos_r": [
          -0.42345996015588333,
          -1.073353343418262,
          0.12685661121439115,
          -0.39634067521094746,
          0.18038018223974836,
          1.0067286765462837,
          -0.7086654738182361
        ],
        "eef_pose_l": [
          454.08585773732045,
          396.3036675348874,
          69.34419963185823,
          1.7691746603651417,
          0.022033871249025658,
          0.848034890768939
        ],
        "eef_pose_r": [
          612.2115216332445,
          -254.57575274895837,
          16.892675218926627,
          1.5687971953042787,
          0.26237387374158755,
          2.416798016310368
        ],
        "joint_status_l": {
          "velocity": [
            -0.10308815914150671,
            0.1086236152296749,
            0.009752827436537714,
            0.9924949936639393,
            0.14830234863758007,
            -1.3837047926861246,
            -0.3281627091882289
          ],
          "torque": [
            -23.3642578125,
            15.2197265625,
            -13.671875,
            0.81787109375,
            -1.2744140625,
            -1.9390869140625,
            -0.55023193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3998711747387205,
            14.743722161302486,
            1.0281727920385952,
            -26.816655499411368,
            6.013782468397011,
            -16.543546619509186,
            -7.248423295866502
          ],
          "torque": [
            31.1279296875,
            13.505859375,
            11.87744140625,
            -11.767578125,
            5.51513671875,
            0.8477783203125,
            -1.3824462890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.0,
            -2.1,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.0,
            -2.1,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.5,
            -17.9,
            -1.4,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -17.9,
            -1.4,
            0.9,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -316,
          "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": [
          0.4392097610644793,
          -0.28945538946777194,
          -0.1370916064784542,
          -1.3148440896575768,
          -0.010307526056336985,
          -0.6913393962796346,
          0.21712820738714897
        ],
        "act_joint_pos_r": [
          -0.439431830220037,
          -0.9058653385359361,
          0.1393042336258741,
          -0.6967292238084101,
          0.24156199112273002,
          0.8238523945785747,
          -0.7851448425742547
        ],
        "act_eef_pose_l": [
          453.9822875079824,
          398.8238907697837,
          69.9036314478879,
          1.7683399456241764,
          0.025425888251309432,
          0.8356050328525046
        ],
        "act_eef_pose_r": [
          595.1582644042035,
          -278.8371481268787,
          32.132143346919975,
          1.559635592363482,
          0.2875603893184333,
          2.3522790492191583
        ],
        "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": [
          0.44436976865185707,
          -0.2858575991601772,
          -0.1393888811860279,
          -1.3375603582728326,
          -0.017354789951811778,
          -0.6605497795986336,
          0.2255194214313867
        ],
        "joint_pos_r": [
          -0.42592667172266635,
          -1.0474159188766632,
          0.1287099981459855,
          -0.44327020711070503,
          0.19054515460423677,
          0.9779188667553455,
          -0.7210763700908239
        ],
        "eef_pose_l": [
          454.04854855238835,
          396.5813208580697,
          69.40216437942291,
          1.7690850122206605,
          0.022312659851492434,
          0.8472954295400964
        ],
        "eef_pose_r": [
          610.4122480712764,
          -258.64101911441816,
          19.20387886562156,
          1.56566761472428,
          0.2669917671664681,
          2.405627895337038
        ],
        "joint_status_l": {
          "velocity": [
            -0.5572643838025471,
            -0.38854989355341374,
            0.24809835114825152,
            2.453284654684751,
            0.7610820537959778,
            -3.325180530590721,
            -0.9062243891180266
          ],
          "torque": [
            -24.29443359375,
            12.919921875,
            -13.3544921875,
            0.335693359375,
            -1.204833984375,
            -2.5946044921875,
            -0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.458514101141617,
            15.287011810485751,
            1.1441436871136856,
            -27.37276648675868,
            5.509655845384209,
            -16.63868826321302,
            -6.919190957582089
          ],
          "torque": [
            27.67822265625,
            11.4404296875,
            12.80517578125,
            -11.16943359375,
            5.343017578125,
            0.29296875,
            -0.77911376953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.0,
            -16.7,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.0,
            -16.7,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.7,
            -16.5,
            -2.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.5,
            -2.0,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.4218678759860284,
          -0.29988374621402947,
          -0.132001596872247,
          -1.2767966182848451,
          0.026775867114872037,
          -0.7427520184431939,
          0.17969908474725035
        ],
        "act_joint_pos_r": [
          -0.4487482674979488,
          -0.8468573074208317,
          0.14549822529460307,
          -0.7949377824439247,
          0.24827607096053184,
          0.7669872219092106,
          -0.7963680626525224
        ],
        "act_eef_pose_l": [
          454.4510875079824,
          400.4542907697836,
          70.4932314478877,
          1.77817101178662,
          0.032256091480860734,
          0.8095554630111985
        ],
        "act_eef_pose_r": [
          585.2398644042034,
          -287.1139481268787,
          34.50894334691975,
          1.5705789538798358,
          0.2885550909107245,
          2.3395006591012333
        ],
        "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": [
          0.4421439556524494,
          -0.28728961768681593,
          -0.13858761249280713,
          -1.3305228519930767,
          -0.013348818280159686,
          -0.6700770987565204,
          0.22123446564999227
        ],
        "joint_pos_r": [
          -0.42868823296514097,
          -1.020716719601086,
          0.13081157257627873,
          -0.4906445656527547,
          0.19932223833882842,
          0.9492866342761466,
          -0.7322611070802743
        ],
        "eef_pose_l": [
          454.10447286575305,
          397.11134936245725,
          69.56786632500024,
          1.7694369012128766,
          0.02328258651573554,
          0.8431840825959842
        ],
        "eef_pose_r": [
          608.1044728306156,
          -262.8303039254956,
          21.317573363021694,
          1.5640562005294147,
          0.2708081055991205,
          2.395297876013395
        ],
        "joint_status_l": {
          "velocity": [
            -2.189752020689717,
            -1.3601257661739474,
            0.7112687092714065,
            5.802262111917145,
            4.333338217684391,
            -7.848659842311534,
            -4.485688839175772
          ],
          "torque": [
            -26.7041015625,
            10.5908203125,
            -10.784912109375,
            0.726318359375,
            -0.9027099609375,
            -3.17138671875,
            -1.22039794921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.166419834405353,
            18.776262739200078,
            1.5861117137144776,
            -32.86269817997267,
            5.2868579956022455,
            -19.687755876308444,
            -6.923347008597425
          ],
          "torque": [
            27.3779296875,
            12.94189453125,
            13.848876953125,
            -15.49072265625,
            5.3375244140625,
            -0.8258056640625,
            -0.87158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.8,
            -15.3,
            -5.7,
            1.4,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            2.8,
            -15.3,
            -5.7,
            1.4,
            0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.3,
            -1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -1.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -318,
          "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": [
          0.4166650215166167,
          -0.2987781955124298,
          -0.13245903737442502,
          -1.278930514431656,
          0.048033947861127045,
          -0.7424615282100653,
          0.16064275298688085
        ],
        "act_joint_pos_r": [
          -0.46517952406750546,
          -0.7924488511419708,
          0.15212569919067648,
          -0.8780730892145805,
          0.2596642245683678,
          0.7083196488383687,
          -0.8118199415518262
        ],
        "act_eef_pose_l": [
          454.02788750798237,
          400.21269076978365,
          70.4180314478877,
          1.7879971747092513,
          0.03228905749043694,
          0.8070553444609309
        ],
        "act_eef_pose_r": [
          575.7246644042035,
          -297.88114812687866,
          32.193743346919746,
          1.589539922843755,
          0.28742711870502774,
          2.316677210660193
        ],
        "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": [
          0.4388377055171123,
          -0.2891528032841651,
          -0.13760797244651626,
          -1.3224611663261057,
          -0.006324713162120446,
          -0.6810960399681,
          0.214092895713271
        ],
        "joint_pos_r": [
          -0.43341973804433825,
          -0.9860539690610304,
          0.13388614870366317,
          -0.5504403655535899,
          0.20879879328825943,
          0.9128245309801893,
          -0.7447098632585435
        ],
        "eef_pose_l": [
          454.18650427542224,
          397.5851025211224,
          69.75849138791327,
          1.7708167320456873,
          0.02444628482535482,
          0.8379008287180516
        ],
        "eef_pose_r": [
          604.4816125314541,
          -268.51263678579863,
          23.206738489976487,
          1.564801586297786,
          0.27400972656858424,
          2.3825144343183453
        ],
        "joint_status_l": {
          "velocity": [
            -2.3945792477140238,
            -1.0395117018937583,
            0.5560685874195226,
            4.701171750951971,
            5.870562247532428,
            -6.627277269037002,
            -5.772445165280526
          ],
          "torque": [
            -29.56787109375,
            8.0419921875,
            -11.676025390625,
            1.15966796875,
            -1.212158203125,
            -2.9168701171875,
            -0.69854736328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.4299557293651084,
            20.908736065052835,
            1.9698133560579478,
            -35.38329058101431,
            5.493304561893897,
            -22.08587588322697,
            -7.2476746969352135
          ],
          "torque": [
            26.14013671875,
            14.24560546875,
            12.65869140625,
            -11.328125,
            5.2587890625,
            0.6170654296875,
            -1.02630615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -15.9,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -15.9,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -16.6,
            -1.1,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.6,
            -1.1,
            0.9,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -305,
          "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": [
          0.41431553461771187,
          -0.29557873397775186,
          -0.13378931823547824,
          -1.2855929589008444,
          0.058379604154874094,
          -0.7404820404422496,
          0.14833404788125878
        ],
        "act_joint_pos_r": [
          -0.481784744696482,
          -0.7414432004062488,
          0.1594422057433595,
          -0.9472257617070301,
          0.26574134494897494,
          0.6570943826167818,
          -0.8115839478838173
        ],
        "act_eef_pose_l": [
          453.0262875079824,
          399.52869076978357,
          71.14603144788776,
          1.791800122864413,
          0.03467330348481675,
          0.8055199554823526
        ],
        "act_eef_pose_r": [
          566.4086644042035,
          -310.0027481268787,
          29.188943346919814,
          1.6121400313956298,
          0.27690504020922796,
          2.2933137872767926
        ],
        "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": [
          0.4347808604013119,
          -0.29066873352802713,
          -0.13677489977387827,
          -1.3151517343268206,
          0.003887538964505057,
          -0.6918309465789713,
          0.20392720491458066
        ],
        "joint_pos_r": [
          -0.44084966885516075,
          -0.9450747589761188,
          0.13796248449766157,
          -0.6183143352845392,
          0.21893618454381772,
          0.8697659994395938,
          -0.7573758879159781
        ],
        "eef_pose_l": [
          454.1406906953151,
          397.9728703551374,
          69.9883921819297,
          1.7736217791885083,
          0.02573223419872492,
          0.8322133903566861
        ],
        "eef_pose_r": [
          599.5638039638264,
          -275.9071430189586,
          24.24591114821112,
          1.5692051028247045,
          0.2754050079931191,
          2.3663996502027045
        ],
        "joint_status_l": {
          "velocity": [
            -2.2101899985598195,
            -0.5302644092575193,
            0.32243329648551367,
            3.192253595518224,
            5.884969472663159,
            -5.254163173973758,
            -6.003883884508898
          ],
          "torque": [
            -29.853515625,
            8.8623046875,
            -10.931396484375,
            -0.2197265625,
            -0.849609375,
            -3.05419921875,
            -0.67291259765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.420857804631417,
            21.991559719163334,
            2.3197414774176472,
            -35.521386406337285,
            5.054808240156916,
            -22.967857216125154,
            -5.854297813241871
          ],
          "torque": [
            25.7958984375,
            11.00830078125,
            13.385009765625,
            -7.965087890625,
            4.6636962890625,
            1.29638671875,
            -0.908203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -16.5,
            -5.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.5,
            -5.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.4,
            1.0,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.4,
            1.0,
            1.2,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -372,
          "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": [
          0.41450098328513163,
          -0.29020213194476613,
          -0.13561416582138913,
          -1.2875930816337677,
          0.06439529142526733,
          -0.7440042892987412,
          0.13952393057952173
        ],
        "act_joint_pos_r": [
          -0.49400217218492465,
          -0.695136503757288,
          0.1676989437662479,
          -1.0167083673275783,
          0.2800967758823197,
          0.609135381785032,
          -0.823964462401602
        ],
        "act_eef_pose_l": [
          451.3998875079824,
          400.8318907697836,
          71.5852314478878,
          1.7948014718931256,
          0.037898340356968895,
          0.8057167361870613
        ],
        "act_eef_pose_r": [
          557.6398644042035,
          -318.6595481268787,
          30.446543346919952,
          1.6239374906180688,
          0.27466867250371985,
          2.272238246938126
        ],
        "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": [
          0.43117578992426914,
          -0.29114920047805226,
          -0.13637859855991435,
          -1.3100697066776648,
          0.01395593577500845,
          -0.7006868292843648,
          0.19346264251794565
        ],
        "joint_pos_r": [
          -0.4486285086637466,
          -0.9076215900244018,
          0.1422027875293463,
          -0.678353413084083,
          0.22786366313982498,
          0.8306847775078244,
          -0.7673507512834811
        ],
        "eef_pose_l": [
          453.85501934521125,
          398.3053529486877,
          70.2884789507062,
          1.7766766461744419,
          0.027352761007190987,
          0.8273485684859249
        ],
        "eef_pose_r": [
          594.5888497662474,
          -283.07463962182624,
          24.747155735855955,
          1.575096058983949,
          0.2749567814015019,
          2.3508971858831016
        ],
        "joint_status_l": {
          "velocity": [
            -1.8008260045028202,
            0.10228038499615622,
            0.08255630089282207,
            2.42740391228935,
            5.447289751004628,
            -4.6781477069606225,
            -5.825209083991645
          ],
          "torque": [
            -28.330078125,
            13.18359375,
            -10.699462890625,
            1.0986328125,
            -1.44287109375,
            -2.9278564453125,
            -0.79742431640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.9002111362850265,
            22.947712510245744,
            2.753503663335932,
            -36.54125733152114,
            5.641009803498465,
            -23.92662905985876,
            -6.114100475002715
          ],
          "torque": [
            26.57958984375,
            10.2978515625,
            14.373779296875,
            -8.636474609375,
            4.75341796875,
            1.585693359375,
            -0.97869873046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.7,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.7,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -19.1,
            2.6,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -19.1,
            2.6,
            1.2,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -343,
          "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": [
          0.4193862788856677,
          -0.2851796213674754,
          -0.13719415877884863,
          -1.285945121329487,
          0.060503391990786574,
          -0.746652197547403,
          0.14372448323197975
        ],
        "act_joint_pos_r": [
          -0.49775120461494016,
          -0.6780913689131022,
          0.1719880432352368,
          -1.0456521800256315,
          0.2862187541343441,
          0.590416831388115,
          -0.8326063441065992
        ],
        "act_eef_pose_l": [
          450.0678875079824,
          403.4430907697837,
          70.87563144788788,
          1.795651159007832,
          0.03795178562336179,
          0.8097255325031109
        ],
        "act_eef_pose_r": [
          554.2150644042035,
          -320.6875481268787,
          32.14974334691988,
          1.6259936912049844,
          0.2773295735034025,
          2.265863298752364
        ],
        "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": [
          0.42871841295694907,
          -0.2907016498170599,
          -0.13634474243419248,
          -1.3062788917249866,
          0.02202177317041261,
          -0.7079618870713985,
          0.18483946304086657
        ],
        "joint_pos_r": [
          -0.45692126562354063,
          -0.8688234563870575,
          0.1470199738692137,
          -0.7402643130443342,
          0.23754032193219432,
          0.7901633415678149,
          -0.7779836261413995
        ],
        "eef_pose_l": [
          453.39661613524504,
          398.8470606764432,
          70.50716471986405,
          1.7794422324605603,
          0.028942434562561608,
          0.8239030125242647
        ],
        "eef_pose_r": [
          588.9795123809371,
          -290.3464276355376,
          25.48045812452517,
          1.5816700823811172,
          0.2745255154520651,
          2.3347904070985175
        ],
        "joint_status_l": {
          "velocity": [
            -1.0078407550246915,
            0.596361483813368,
            -0.09173425966546578,
            2.195982435674537,
            4.155892261110072,
            -4.178430295193714,
            -4.44028686009923
          ],
          "torque": [
            -28.2861328125,
            14.677734375,
            -15.338134765625,
            1.202392578125,
            -1.56005859375,
            -2.8271484375,
            -0.52825927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.409503359721345,
            20.598457928144853,
            2.696471963340885,
            -32.980916913831315,
            5.257115627494757,
            -21.571986867664705,
            -5.899079556190401
          ],
          "torque": [
            28.38134765625,
            10.751953125,
            15.423583984375,
            -9.97314453125,
            4.676513671875,
            1.0382080078125,
            -0.71685791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.6,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.6,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.1,
            -17.3,
            -2.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -17.3,
            -2.3,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -358,
          "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": [
          0.4278548426795669,
          -0.2759827941721066,
          -0.14056231139413242,
          -1.289467163980157,
          0.06478603198545412,
          -0.7425503759579914,
          0.14157959496903125
        ],
        "act_joint_pos_r": [
          -0.494949212528299,
          -0.6501308251482332,
          0.17839685491350388,
          -1.0844193749019797,
          0.2509662466674554,
          0.5628929832165072,
          -0.7953710788950537
        ],
        "act_eef_pose_l": [
          447.64068750798236,
          407.0982907697836,
          68.53243144788786,
          1.8042686664743148,
          0.03823973511346316,
          0.8186367062565548
        ],
        "act_eef_pose_r": [
          549.0926644042034,
          -324.84674812687877,
          34.979343346919904,
          1.6456441816285268,
          0.2748853150095906,
          2.2665923279626616
        ],
        "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": [
          0.4275648918478637,
          -0.28899467436663706,
          -0.13674816331180822,
          -1.302689000596642,
          0.029605011821796184,
          -0.714980041843002,
          0.17691255715790047
        ],
        "joint_pos_r": [
          -0.4634314886469342,
          -0.8354519866249946,
          0.15158669455786483,
          -0.793263836680046,
          0.24300106173657499,
          0.7553414292692034,
          -0.7842786185026309
        ],
        "eef_pose_l": [
          452.6150029930192,
          399.96366785192305,
          70.4400680461934,
          1.78293424255433,
          0.03054124163346008,
          0.8217674096665478
        ],
        "eef_pose_r": [
          583.8013501341325,
          -296.31191332967234,
          26.4011176957996,
          1.5890232372064712,
          0.27398704370159527,
          2.3223598998336357
        ],
        "joint_status_l": {
          "velocity": [
            0.03131376627329985,
            1.4052416156236092,
            -0.41191584408251103,
            1.427916240443139,
            3.799438119237691,
            -2.9775082675067566,
            -3.815847373995318
          ],
          "torque": [
            -26.08154296875,
            15.439453125,
            -17.6025390625,
            1.7333984375,
            -1.483154296875,
            -2.21923828125,
            -0.7635498046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.403813789065513,
            20.0140951553065,
            2.895411922799074,
            -31.443870740574198,
            0.8602146018614754,
            -20.783819187711217,
            -1.1979503907237898
          ],
          "torque": [
            26.8798828125,
            13.6962890625,
            15.594482421875,
            -9.136962890625,
            4.2333984375,
            1.0235595703125,
            -0.13824462890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -15.8,
            -8.4,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -15.8,
            -8.4,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -16.5,
            -0.6,
            0.9,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.5,
            -0.6,
            0.9,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -345,
          "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": [
          0.4384351761795815,
          -0.2651674847934344,
          -0.1458920993667373,
          -1.3134058214059425,
          0.057411042975852845,
          -0.7180135193830652,
          0.1464770654228247
        ],
        "act_joint_pos_r": [
          -0.49289207800427143,
          -0.6290741125921827,
          0.18372079526528506,
          -1.112051479948983,
          0.22072345595003554,
          0.5500700233390302,
          -0.7643945323862604
        ],
        "act_eef_pose_l": [
          445.4310875079824,
          406.7518907697836,
          68.03963144788787,
          1.8046785374408645,
          0.03883023918586106,
          0.8306594222124404
        ],
        "act_eef_pose_r": [
          544.4854644042035,
          -327.3691481268787,
          37.72094334691997,
          1.6576343079160611,
          0.2737477964447273,
          2.271714914815444
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    }
  ]
}