{
  "info": {
    "version": "1.0.0",
    "datetime": "2025-06-16-16:58",
    "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_0065",
    "episode_id": 65,
    "task": "Push the box to the lined area.",
    "total_steps": 174
  },
  "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": [
            -25.927734375,
            11.41845703125,
            -18.2861328125,
            -4.1259765625,
            -3.892822265625,
            -0.85693359375,
            -0.03753662109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            25.74462890625,
            14.912109375,
            16.595458984375,
            -5.224609375,
            3.695068359375,
            1.19384765625,
            0.2984619140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.3,
            0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.3,
            0.6,
            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": 700,
          "motor_current": 20,
          "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": [
          -0.48045552146903336,
          -0.2846939284347493,
          0.27779962619124293,
          -1.3152536269136812,
          -0.02999999278066534,
          0.7533570419891717,
          -0.1976606453185637
        ],
        "act_eef_pose_l": [
          457.76548750798236,
          348.26789076978366,
          116.82043144788787,
          1.6656263232034922,
          -0.07549364575442373,
          0.8180631049630251
        ],
        "act_eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.6899619074564978,
          0.014678289631629489,
          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": [
          0.35795975687014575,
          -0.2918586805737932,
          -0.12847009155894182,
          -1.5191471556801694,
          -0.10984926507232994,
          -0.5092536004464775,
          0.3580877422655882
        ],
        "joint_pos_r": [
          -0.480455832812998,
          -0.2846939337910781,
          0.2777996208404598,
          -1.315253610316224,
          -0.02999999937996122,
          0.7533570664203584,
          -0.19766064112314197
        ],
        "eef_pose_l": [
          457.7654836193209,
          348.2678907752136,
          116.82041419144203,
          1.6656263520535586,
          -0.07549362458873432,
          0.8180631103215275
        ],
        "eef_pose_r": [
          451.8198678757056,
          -395.37474812930145,
          103.95055690500493,
          1.6899618868476582,
          0.014678310981358024,
          2.349915423015577
        ],
        "joint_status_l": {
          "velocity": [
            5.234491684547038e-05,
            -2.245443830872773e-07,
            1.0577672071576671e-07,
            9.232135056436164e-07,
            3.902500544938903e-07,
            -1.5287655585893845e-06,
            -8.112239768820473e-07
          ],
          "torque": [
            -25.77392578125,
            11.41845703125,
            -18.2861328125,
            -4.1259765625,
            -3.892822265625,
            -0.85693359375,
            -0.04486083984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.362415679220021e-05,
            5.784661638585931e-07,
            5.778673095591103e-07,
            -1.7924719486472895e-06,
            7.127029522102646e-07,
            -2.6384903151210892e-06,
            -4.53092008356748e-07
          ],
          "torque": [
            25.75927734375,
            14.90478515625,
            16.583251953125,
            -5.45654296875,
            3.695068359375,
            1.1480712890625,
            0.296630859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.3,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.3,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -286,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -91,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3597817274778796,
          -0.29378803003288567,
          -0.1273130530304319,
          -1.5041055004678383,
          -0.12378384371232652,
          -0.5291637203245962,
          0.3646657362411067
        ],
        "act_joint_pos_r": [
          -0.48980427319340863,
          -0.28051087860273455,
          0.2813496954081565,
          -1.3212912393994867,
          -0.01982995652750441,
          0.7535196360152835,
          -0.20947090096641244
        ],
        "act_eef_pose_l": [
          458.25828750798235,
          350.2750907697836,
          117.04683144788788,
          1.6579590784452398,
          -0.06844257224168782,
          0.8147616589530329
        ],
        "act_eef_pose_r": [
          449.8798644042035,
          -395.15474812687864,
          103.19694334691985,
          1.68684298422898,
          0.01518242561884339,
          2.350967748284466
        ],
        "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": [
          0.35814101703360557,
          -0.2920505838698566,
          -0.12835500641128328,
          -1.517651033732601,
          -0.11123527048344325,
          -0.5112339656531072,
          0.3587420231895239
        ],
        "joint_pos_r": [
          -0.48125870719728364,
          -0.2843346680845381,
          0.27810452246254386,
          -1.3157721585764213,
          -0.02912653600045595,
          0.7533710269315051,
          -0.19867497575830792
        ],
        "eef_pose_l": [
          457.8152025313036,
          348.46539437993965,
          116.8386873899557,
          1.664882900806036,
          -0.07477932723716214,
          0.8177286191092749
        ],
        "eef_pose_r": [
          451.6530474201003,
          -395.35557670851244,
          103.88486942672601,
          1.689693264308572,
          0.014720863016630578,
          2.3500090623322087
        ],
        "joint_status_l": {
          "velocity": [
            0.17719150199724254,
            -0.18763865150095427,
            0.11252764630653722,
            1.4628744474194377,
            -1.3552059390566917,
            -1.9363563947414342,
            0.6397421413852911
          ],
          "torque": [
            -20.09033203125,
            7.39013671875,
            -13.092041015625,
            0.048828125,
            -4.0850830078125,
            -2.42431640625,
            0.49346923828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9228939082808196,
            0.41295708451682955,
            0.35046834161467366,
            -0.5960431495370955,
            1.0040009716529574,
            0.01604930769882884,
            -1.1659255353397846
          ],
          "torque": [
            18.69873046875,
            16.3623046875,
            18.00537109375,
            -5.303955078125,
            4.522705078125,
            1.2506103515625,
            -0.4266357421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.6,
            -8.6,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -8.6,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -18.0,
            2.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -18.0,
            2.4,
            1.1,
            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": 700,
          "motor_current": -5,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3569830713672981,
          -0.2952469047359441,
          -0.12646141547252687,
          -1.4931683335006223,
          -0.11602028387704032,
          -0.5431418819345518,
          0.347308249971135
        ],
        "act_joint_pos_r": [
          -0.5039982450814793,
          -0.27616048541003685,
          0.28508906223964003,
          -1.326843548265455,
          -0.017040571060586984,
          0.7568666434226271,
          -0.2218011921375533
        ],
        "act_eef_pose_l": [
          458.6126875079824,
          351.51429076978366,
          117.33163144788801,
          1.6580901661567276,
          -0.05928327690532969,
          0.810381238849651
        ],
        "act_eef_pose_r": [
          446.7646644042035,
          -394.6779481268787,
          99.48814334691997,
          1.6914915839919806,
          0.017850965804273925,
          2.3562310889179896
        ],
        "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": [
          0.3581323732812345,
          -0.29248131918438225,
          -0.1280990058323893,
          -1.514336343705327,
          -0.11252599334608875,
          -0.5155718743819253,
          0.3579893880966413
        ],
        "joint_pos_r": [
          -0.4843713229697555,
          -0.28316767930721715,
          0.2791002570321256,
          -1.3173745166731234,
          -0.02716806046203124,
          0.7537749880323743,
          -0.20197517096433712
        ],
        "eef_pose_l": [
          457.9281945359635,
          348.8831952777072,
          116.89636365069718,
          1.6637737081486372,
          -0.0728102887588041,
          0.8168082583754622
        ],
        "eef_pose_r": [
          450.98944110282923,
          -395.2662750022565,
          103.33646819295839,
          1.6897178413804101,
          0.015101534586102456,
          2.350779255339771
        ],
        "joint_status_l": {
          "velocity": [
            -0.1241209459537096,
            -0.2986744306374689,
            0.1768545428193491,
            2.286077677853271,
            -0.3773722473431329,
            -2.97747299981177,
            -1.1535288960389245
          ],
          "torque": [
            -23.22509765625,
            5.54443359375,
            -11.114501953125,
            0.225830078125,
            -4.0008544921875,
            -2.6513671875,
            -0.29571533203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.119645072476306,
            0.7567546216109555,
            0.6467718868943262,
            -1.0226252512506306,
            1.0937365973193724,
            0.33388893461960834,
            -2.1411471369481294
          ],
          "torque": [
            17.05078125,
            16.171875,
            18.231201171875,
            -4.04052734375,
            4.7076416015625,
            2.1075439453125,
            -0.89080810546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.3,
            -8.5,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.3,
            -8.5,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.4,
            1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.4,
            1.0,
            1.0,
            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": 700,
          "motor_current": -72,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34837325464447955,
          -0.3065767776370156,
          -0.12259483640281374,
          -1.4800612058372733,
          -0.09445705026081136,
          -0.5599606816261586,
          0.3208900775263587
        ],
        "act_joint_pos_r": [
          -0.5090770762663985,
          -0.2770926237982548,
          0.2841379622906566,
          -1.3240492954793757,
          -0.02269808899881598,
          0.7660463940902696,
          -0.2129441905524381
        ],
        "act_eef_pose_l": [
          460.07908750798236,
          348.30069076978367,
          117.21803144788788,
          1.661243939636483,
          -0.05274359599850645,
          0.7934372534177745
        ],
        "act_eef_pose_r": [
          445.1350644042035,
          -393.9107481268787,
          96.20654334691994,
          1.6981074101133973,
          0.007795884724075959,
          2.3636654227883844
        ],
        "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": [
          0.35684414315726964,
          -0.29439810799250793,
          -0.12732219315765533,
          -1.5089418788135558,
          -0.11042637757165452,
          -0.5225660175069304,
          0.3527716096377443
        ],
        "joint_pos_r": [
          -0.48848157082682647,
          -0.28204621819665626,
          0.2800392688923369,
          -1.3186965845318095,
          -0.026090405316734882,
          0.7554784666343898,
          -0.2043644036407328
        ],
        "eef_pose_l": [
          458.24856117268024,
          348.94140999128757,
          116.96912572631841,
          1.663080206998915,
          -0.06960613003143283,
          0.8135630553862392
        ],
        "eef_pose_r": [
          450.04429875329714,
          -395.06505340968346,
          102.22884904506185,
          1.6908873068787917,
          0.014330587797035886,
          2.352686486916962
        ],
        "joint_status_l": {
          "velocity": [
            -0.9148289779430385,
            -1.315257530159375,
            0.5105394719661094,
            3.1190206908426887,
            1.7246364841370099,
            -4.038504615549776,
            -3.4431039191078483
          ],
          "torque": [
            -28.13232421875,
            3.84521484375,
            -10.736083984375,
            -0.604248046875,
            -1.32568359375,
            -3.2647705078125,
            -0.7159423828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.2242489867561055,
            0.5349724168595138,
            0.44264583187736406,
            -0.5780757329052477,
            0.36635935714357526,
            1.1413025043172098,
            -0.9265896581629463
          ],
          "torque": [
            16.95556640625,
            16.86767578125,
            18.206787109375,
            -4.13818359375,
            4.75341796875,
            2.1441650390625,
            -0.7012939453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.7,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.7,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.5,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.5,
            0.5,
            1.0,
            0.2,
            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": 700,
          "motor_current": -59,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3454022427557698,
          -0.31311038505207706,
          -0.1205116792203069,
          -1.4722982592958507,
          -0.09146072652623924,
          -0.5659343394880395,
          0.3184095800820173
        ],
        "act_joint_pos_r": [
          -0.5385896746639767,
          -0.272664063700361,
          0.28858519550481326,
          -1.3348562834663817,
          0.04543675089807797,
          0.7552483485115039,
          -0.2778837469958358
        ],
        "act_eef_pose_l": [
          461.4990875079824,
          347.19189076978364,
          117.03643144788799,
          1.6608186149289592,
          -0.0528405210422426,
          0.7884874253411179
        ],
        "act_eef_pose_r": [
          443.5702644042035,
          -394.3635481268787,
          94.5689433469197,
          1.6712071974245315,
          0.007434888243562367,
          2.34983695647133
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "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": [
          0.35497200683518476,
          -0.2973747755938868,
          -0.12622383369639897,
          -1.5028572331825811,
          -0.10722526438854399,
          -0.529930519118001,
          0.3468220901868162
        ],
        "joint_pos_r": [
          -0.49519766079671673,
          -0.28073213915489065,
          0.2812149133238362,
          -1.3207960362842257,
          -0.01784419663464095,
          0.7559973026732596,
          -0.21310284348953346
        ],
        "eef_pose_l": [
          458.7673021763645,
          348.689043307078,
          117.00294402502225,
          1.662586572878992,
          -0.06665254765245576,
          0.8094111900802193
        ],
        "eef_pose_r": [
          449.0567701432881,
          -394.89274358135333,
          101.03695222364298,
          1.6889988244833234,
          0.013210807385189358,
          2.3531356237415877
        ],
        "joint_status_l": {
          "velocity": [
            -1.0335040390043737,
            -1.6993957004873828,
            0.6168944890876382,
            3.3002718434520517,
            1.70251987598935,
            -3.8882979207470747,
            -3.068460591910682
          ],
          "torque": [
            -28.8427734375,
            2.841796875,
            -10.772705078125,
            0.262451171875,
            -0.7891845703125,
            -3.0450439453125,
            -0.63446044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.686199285603987,
            0.8713264506892138,
            0.7959669997537056,
            -1.5184619110328867,
            6.834140771325909,
            -0.08088466390443472,
            -6.99613123881937
          ],
          "torque": [
            16.0546875,
            17.28515625,
            17.3583984375,
            -4.5654296875,
            4.9090576171875,
            0.875244140625,
            -0.66558837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.7,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.7,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -16.3,
            0.8,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -16.3,
            0.8,
            0.9,
            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": 0,
          "position": 700,
          "motor_current": 547,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34171575233847584,
          -0.3167160538882271,
          -0.11930630358697705,
          -1.4642226263087408,
          -0.07972045496100585,
          -0.5676327674198958,
          0.31213302505380297
        ],
        "act_joint_pos_r": [
          -0.5599535640128397,
          -0.2609800898976328,
          0.3000234581837672,
          -1.3538738583264112,
          0.059101147522802044,
          0.7378758148093432,
          -0.29459005481998707
        ],
        "act_eef_pose_l": [
          463.1262875079824,
          348.0782907697837,
          116.50123144788796,
          1.6655935383393314,
          -0.05839083153657198,
          0.7889816898886184
        ],
        "act_eef_pose_r": [
          440.51746440420345,
          -395.50274812687866,
          92.70414334691986,
          1.6724029326319911,
          0.008792593755646593,
          2.3381304989679075
        ],
        "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": [
          0.35298278826407475,
          -0.3003685102543097,
          -0.1251487641505941,
          -1.496922203166685,
          -0.10330884249489719,
          -0.5360410346794097,
          0.34144294184248697
        ],
        "joint_pos_r": [
          -0.5036192112715435,
          -0.278503956822839,
          0.28331607095478056,
          -1.3245636534645473,
          -0.0070648812969013155,
          0.7543915601401261,
          -0.2243711019288391
        ],
        "eef_pose_l": [
          459.30387695976657,
          348.54433918349883,
          116.68798254060708,
          1.663140943568654,
          -0.06548258288544523,
          0.8070183815909684
        ],
        "eef_pose_r": [
          447.95745325118565,
          -394.8738954087665,
          99.88064647471657,
          1.6862304339220906,
          0.012462411866429483,
          2.3518662172296154
        ],
        "joint_status_l": {
          "velocity": [
            -1.2168039922491047,
            -1.7654826423361136,
            0.6309671314899123,
            3.5314501461041203,
            2.5474707200275892,
            -3.411806510118076,
            -3.1653776553541846
          ],
          "torque": [
            -28.9599609375,
            3.68408203125,
            -10.46142578125,
            -0.09765625,
            -0.7525634765625,
            -2.8070068359375,
            -0.66558837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.083930660116366,
            1.8925218109751007,
            1.8043446044311295,
            -3.165408766339084,
            7.145720360771455,
            -1.7836478898427544,
            -7.583423251130483
          ],
          "torque": [
            16.09130859375,
            17.58544921875,
            17.266845703125,
            -5.74951171875,
            4.888916015625,
            0.8148193359375,
            -0.79925537109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.9,
            -9.8,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.9,
            -9.8,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -16.6,
            1.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -16.6,
            1.3,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -341,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 683,
          "motor_current": 1108,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34477316419857834,
          -0.3225965022099911,
          -0.11724116279291188,
          -1.4471636502460556,
          -0.08091191292003305,
          -0.5815679967220344,
          0.31419482706150775
        ],
        "act_joint_pos_r": [
          -0.5865594167147785,
          -0.2502273930239245,
          0.3119151154508358,
          -1.3740469569319758,
          0.08167077169004688,
          0.7144062925703587,
          -0.32270850233934123
        ],
        "act_eef_pose_l": [
          464.55828750798236,
          349.62549076978365,
          113.87963144788802,
          1.6672420363767355,
          -0.05601528345859712,
          0.7863653340203071
        ],
        "act_eef_pose_r": [
          437.8902644042035,
          -396.8459481268787,
          89.50814334691995,
          1.6733173851360805,
          0.011790858289250958,
          2.321279266316719
        ],
        "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": [
          0.35147554709013795,
          -0.3037195365789311,
          -0.12395525456358086,
          -1.489621562209956,
          -0.09956546907307795,
          -0.5428070588260787,
          0.3368571877742951
        ],
        "joint_pos_r": [
          -0.5165818779738696,
          -0.27419222515408964,
          0.2876119656555368,
          -1.3320223334962524,
          0.007180648967439468,
          0.7488230703667044,
          -0.23995936813501445
        ],
        "eef_pose_l": [
          460.20312115219826,
          348.64724955939647,
          116.60541540285296,
          1.663242280387899,
          -0.06371162626197424,
          0.8029617810429112
        ],
        "eef_pose_r": [
          446.3533068285917,
          -395.0960202943623,
          98.24773517609677,
          1.683373797889942,
          0.012214586295088996,
          2.3478151431275
        ],
        "joint_status_l": {
          "velocity": [
            -0.723836003886813,
            -2.038652161322929,
            0.725100525535427,
            4.585319255340892,
            2.0145246493002977,
            -4.186057831586876,
            -2.4474627729249576
          ],
          "torque": [
            -29.62646484375,
            3.43505859375,
            -10.43701171875,
            0.091552734375,
            -0.94482421875,
            -2.6385498046875,
            -0.7177734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.557351291855863,
            2.5881255373756407,
            2.6246627676016487,
            -4.5385254744036985,
            8.044695988416214,
            -3.716902377830067,
            -8.936642921873128
          ],
          "torque": [
            15.78369140625,
            17.64404296875,
            18.7255859375,
            -4.107666015625,
            4.998779296875,
            -0.1336669921875,
            -0.95855712890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.8,
            0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.8,
            0.3,
            1.0,
            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": 0,
          "position": 605,
          "motor_current": 1557,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3431667229869847,
          -0.32643568398460293,
          -0.11644068198912018,
          -1.4507090146779238,
          -0.07629999184145696,
          -0.5750078729544206,
          0.30927325902115704
        ],
        "act_joint_pos_r": [
          -0.5970262569990754,
          -0.24260956283198973,
          0.3214078258439215,
          -1.389422131163226,
          0.06827684231736786,
          0.693839492220498,
          -0.3212438155810907
        ],
        "act_eef_pose_l": [
          465.2182875079824,
          347.3590907697837,
          113.51803144788784,
          1.669324489183559,
          -0.0548600943669537,
          0.784886739640077
        ],
        "act_eef_pose_r": [
          436.45746440420345,
          -397.4043481268787,
          87.50574334691987,
          1.6865233455459292,
          0.020802560461087076,
          2.312645193708805
        ],
        "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": [
          0.35013072444715276,
          -0.3074390077947324,
          -0.12268852670775739,
          -1.4824672868239819,
          -0.095808637859596,
          -0.5490078144676583,
          0.33236076711483625
        ],
        "joint_pos_r": [
          -0.5299955815151124,
          -0.2691973323364257,
          0.2928531612200925,
          -1.3409819350433239,
          0.019018899000573995,
          0.7406922137428804,
          -0.25444442536759915
        ],
        "eef_pose_l": [
          461.0533301436952,
          348.6009930889748,
          116.09963476904622,
          1.6640510917545182,
          -0.06226549146668745,
          0.7998930379076523
        ],
        "eef_pose_r": [
          444.7386536989187,
          -395.4457125988352,
          96.49805762712235,
          1.6823407437745939,
          0.013066134278118155,
          2.34238142581873
        ],
        "joint_status_l": {
          "velocity": [
            -0.7520899759900779,
            -2.0515805203729087,
            0.6747473290040773,
            3.4297922354600274,
            2.106871631101903,
            -2.807923501293441,
            -2.4933773358837286
          ],
          "torque": [
            -29.150390625,
            2.2265625,
            -10.552978515625,
            0.567626953125,
            -0.8880615234375,
            -2.816162109375,
            -0.6500244140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.23909944644241,
            2.8713944192275687,
            3.083812827175958,
            -5.231386889439804,
            5.319700982020004,
            -5.059944689326024,
            -7.214121373920523
          ],
          "torque": [
            16.2744140625,
            17.93701171875,
            18.328857421875,
            -4.79736328125,
            4.793701171875,
            -0.0494384765625,
            -0.8331298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.3,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.3,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.9,
            0.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.9,
            0.2,
            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": 0,
          "position": 459,
          "motor_current": 2738,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34198782411594403,
          -0.32951760886741566,
          -0.11553494407238347,
          -1.4445293108038904,
          -0.06712770800552595,
          -0.5800624031150501,
          0.29799237655702293
        ],
        "act_joint_pos_r": [
          -0.6302942252898903,
          -0.23487121562789137,
          0.3305073153646269,
          -1.3941289570222548,
          0.10940708122791865,
          0.6849201185219497,
          -0.3710523059907289
        ],
        "act_eef_pose_l": [
          465.80868750798237,
          347.3438907697836,
          112.49403144788795,
          1.6733131298978914,
          -0.051180458671086074,
          0.7819372494971056
        ],
        "act_eef_pose_r": [
          433.8750644042035,
          -401.4571481268787,
          82.09774334691997,
          1.6833614723024208,
          0.025585626429509137,
          2.2949144629850275
        ],
        "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": [
          0.34876640016572724,
          -0.3111455529548966,
          -0.1214816492122567,
          -1.476154822084839,
          -0.09132431883039561,
          -0.5541752108440794,
          0.3270057349607943
        ],
        "joint_pos_r": [
          -0.544324117168115,
          -0.2640567307527378,
          0.29845249748501446,
          -1.3494134427643412,
          0.031207702713501304,
          0.7321026775169784,
          -0.270380145188025
        ],
        "eef_pose_l": [
          461.8673298900716,
          348.3850262948964,
          115.54076545592157,
          1.6653255328928085,
          -0.060575162435527366,
          0.7969071313833499
        ],
        "eef_pose_r": [
          443.1571287722622,
          -396.1502310610155,
          94.4847224209467,
          1.6819723557851969,
          0.01480568211385255,
          2.3358435076875836
        ],
        "joint_status_l": {
          "velocity": [
            -0.7320646222845895,
            -1.9841235199566931,
            0.6422252136861761,
            3.415454484898106,
            2.6131568981430098,
            -2.795734309489095,
            -3.1333502943806657
          ],
          "torque": [
            -29.68505859375,
            4.482421875,
            -10.845947265625,
            0.048828125,
            -0.556640625,
            -2.7813720703125,
            -0.64727783203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -9.284497845524875,
            3.1519426719035515,
            3.461818230126923,
            -4.8291331121852465,
            8.44528379922574,
            -5.095566085775438,
            -10.87227270614921
          ],
          "torque": [
            14.75830078125,
            18.62548828125,
            17.755126953125,
            -4.986572265625,
            4.5977783203125,
            0.5126953125,
            -0.89630126953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.2,
            -9.1,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.2,
            -9.1,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -16.3,
            1.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.3,
            1.5,
            1.0,
            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": 0,
          "position": 325,
          "motor_current": 2173,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34249913673634746,
          -0.332254828609635,
          -0.1147305638278787,
          -1.4384644403733897,
          -0.058325526078818565,
          -0.5839872474172108,
          0.2871888366054764
        ],
        "act_joint_pos_r": [
          -0.6585990147248184,
          -0.22203605069791404,
          0.3488829908217651,
          -1.4182829605805978,
          0.11432981009508182,
          0.6517901349947413,
          -0.3876968219211465
        ],
        "act_eef_pose_l": [
          466.32308750798234,
          347.62229076978366,
          110.71563144788803,
          1.678623355487632,
          -0.046658283547235314,
          0.7803212482417705
        ],
        "act_eef_pose_r": [
          431.1630644042035,
          -403.4107481268787,
          78.40414334691991,
          1.6963923717666736,
          0.0341511552261608,
          2.2750339220940927
        ],
        "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": [
          0.3479560668988852,
          -0.31369591944677955,
          -0.12066315033428023,
          -1.4716484342597735,
          -0.087519037445755,
          -0.5577746478755929,
          0.3224215504254746
        ],
        "joint_pos_r": [
          -0.5627183473866468,
          -0.25744813006805634,
          0.3061936218694182,
          -1.3600451275636967,
          0.04558950487964255,
          0.7200219235459806,
          -0.29005804373760125
        ],
        "eef_pose_l": [
          462.41701152676836,
          348.2800496043736,
          115.01708493096947,
          1.6666964877368189,
          -0.05903917423351497,
          0.7948705186782066
        ],
        "eef_pose_r": [
          441.2784496234362,
          -397.2952929595761,
          91.8842087694119,
          1.6825765257671226,
          0.017601544043167626,
          2.326355546443267
        ],
        "joint_status_l": {
          "velocity": [
            -0.5893310761635462,
            -2.0043030758287728,
            0.6407004462418708,
            3.5837656422117448,
            3.1528062405795643,
            -2.8308772582330555,
            -3.805020869468212
          ],
          "torque": [
            -29.61181640625,
            5.16357421875,
            -11.04736328125,
            0.59814453125,
            -0.985107421875,
            -2.8729248046875,
            -0.626220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -10.354806673824157,
            3.824391777569325,
            4.6103158728549865,
            -6.289500466925446,
            7.423734011936578,
            -7.368815831927833,
            -10.54467704519757
          ],
          "torque": [
            16.1279296875,
            19.10888671875,
            18.44482421875,
            -3.729248046875,
            4.8797607421875,
            0.4742431640625,
            -0.567626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.7,
            -8.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.7,
            -8.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -16.9,
            1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -16.9,
            1.3,
            1.0,
            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": 76,
          "motor_current": -473,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34316355077497074,
          -0.33363278822917597,
          -0.11427114183923551,
          -1.4331828521751289,
          -0.056782129982330454,
          -0.5876332348456527,
          0.2841874424140986
        ],
        "act_joint_pos_r": [
          -0.6918246550774567,
          -0.21163260650558458,
          0.3650052238409064,
          -1.4299073529416282,
          0.15388382898751019,
          0.6337005627901389,
          -0.43295312707757183
        ],
        "act_eef_pose_l": [
          466.78228750798235,
          348.3814907697837,
          109.8692314478879,
          1.6801329682576933,
          -0.04426487107649901,
          0.7805006558482604
        ],
        "act_eef_pose_r": [
          428.94066440420346,
          -407.6355481268787,
          75.53294334691986,
          1.6938015188186004,
          0.040315711902409505,
          2.252037692208079
        ],
        "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": [
          0.34703914118375756,
          -0.31707664390923124,
          -0.11958109403608308,
          -1.4654004134191543,
          -0.08224609764941977,
          -0.5626721379122309,
          0.31597570465194263
        ],
        "joint_pos_r": [
          -0.5813342945858795,
          -0.25073304063451696,
          0.3145962268592798,
          -1.3706175266263094,
          0.06028722134380379,
          0.7072512972809332,
          -0.3099962801355774
        ],
        "eef_pose_l": [
          463.1524361777636,
          348.22078606127417,
          114.21249995641395,
          1.6688006580791213,
          -0.05672627383220453,
          0.792292415072638
        ],
        "eef_pose_r": [
          439.5022429496827,
          -398.6482649296207,
          89.44758295103878,
          1.6833049778118805,
          0.020753664641714385,
          2.3158859132796263
        ],
        "joint_status_l": {
          "velocity": [
            -0.4185514196350937,
            -1.7880108519929827,
            0.5734579240221915,
            3.4793939951143216,
            2.7500274003230407,
            -2.6957189628289413,
            -3.433031069848269
          ],
          "torque": [
            -31.12060546875,
            4.85595703125,
            -10.58349609375,
            0.79345703125,
            -0.9027099609375,
            -2.7960205078125,
            -0.67657470703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -11.932606999659257,
            4.222722343386387,
            5.444011111490621,
            -6.403112392348476,
            10.108135501999572,
            -7.943245051516001,
            -13.278947828104126
          ],
          "torque": [
            13.70361328125,
            19.05029296875,
            18.49365234375,
            -4.3701171875,
            5.03173828125,
            0.0897216796875,
            -1.0968017578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.3,
            -7.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.3,
            -7.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.7,
            1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.7,
            1.6,
            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": -11,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34814780657560246,
          -0.33928538177824996,
          -0.11252725025764786,
          -1.4186394258442725,
          -0.06494787562296682,
          -0.5986110937233716,
          0.287834718913289
        ],
        "act_joint_pos_r": [
          -0.7082420966471195,
          -0.2085958327560507,
          0.3720652087190282,
          -1.4407773596771987,
          0.1488242053619033,
          0.6153463262854072,
          -0.44711804048433634
        ],
        "act_eef_pose_l": [
          468.0622875079823,
          349.5766907697837,
          107.19723144788787,
          1.679538298831698,
          -0.036511424780698805,
          0.7799863833855984
        ],
        "act_eef_pose_r": [
          427.4086644042035,
          -407.6139481268787,
          70.45294334691994,
          1.7087271133763657,
          0.05280788091299109,
          2.2463745835966944
        ],
        "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": [
          0.34678198130589005,
          -0.3204893872619872,
          -0.11849247422137044,
          -1.4584550030826506,
          -0.07844517616534846,
          -0.5680283125318684,
          0.31066852211817836
        ],
        "joint_pos_r": [
          -0.6025028833670584,
          -0.24351770184685076,
          0.32421118414110117,
          -1.3821816537921148,
          0.07633263195039208,
          0.6924213012265437,
          -0.3331450003561815
        ],
        "eef_pose_l": [
          463.9204069174692,
          348.3567188919043,
          113.22899764404019,
          1.670670347849265,
          -0.05389343551659002,
          0.7901513639131668
        ],
        "eef_pose_r": [
          437.58766131089874,
          -400.22331987307365,
          86.51624279448112,
          1.6851513268660037,
          0.025299763573888828,
          2.3038371218680838
        ],
        "joint_status_l": {
          "velocity": [
            0.14750477870784096,
            -2.0299075388336973,
            0.6442251876758176,
            4.299955521336329,
            1.4576654670324096,
            -3.302842956536267,
            -2.4659780159943523
          ],
          "torque": [
            -22.80029296875,
            4.81201171875,
            -9.820556640625,
            0.35400390625,
            -0.9979248046875,
            -2.244873046875,
            -0.58868408203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -11.419498234149117,
            3.771450628816009,
            5.1680822299786655,
            -6.328149596793509,
            7.828859028588653,
            -8.323851794757253,
            -12.308725307393242
          ],
          "torque": [
            14.39208984375,
            18.28857421875,
            18.878173828125,
            -5.377197265625,
            4.53369140625,
            0.5474853515625,
            -0.83770751953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -15.8,
            -8.3,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -15.8,
            -8.3,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.7,
            2.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.7,
            2.0,
            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": 198,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34980902541801323,
          -0.3421916533611787,
          -0.1117443015566952,
          -1.4133055810298545,
          -0.06576573330295936,
          -0.603436232431806,
          0.2879586895611194
        ],
        "act_joint_pos_r": [
          -0.7127449085707336,
          -0.20937339141869407,
          0.37314732662826156,
          -1.4458211938530265,
          0.1415026520285028,
          0.6058557576203336,
          -0.4490846068266005
        ],
        "act_eef_pose_l": [
          468.45588750798237,
          349.4750907697836,
          106.00523144788787,
          1.680091286269225,
          -0.0340045595770065,
          0.7778487248061233
        ],
        "act_eef_pose_r": [
          427.0806644042035,
          -406.6371481268787,
          67.73134334691986,
          1.717215686719622,
          0.057875263012635056,
          2.246054551163066
        ],
        "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": [
          0.34712629339369905,
          -0.3237889083647388,
          -0.11745536725129965,
          -1.45152492833438,
          -0.07628525187211532,
          -0.5734038800691432,
          0.3069236898614216
        ],
        "joint_pos_r": [
          -0.6216463383241848,
          -0.23742056183404836,
          0.33277981107186067,
          -1.393043553195093,
          0.08842151177787803,
          0.6778498163516704,
          -0.3534919969405679
        ],
        "eef_pose_l": [
          464.6477428328614,
          348.55650682539846,
          112.16155064485568,
          1.6721168929702903,
          -0.05087742513925459,
          0.7883205577791597
        ],
        "eef_pose_r": [
          435.86431625151545,
          -401.4341183489222,
          83.42365809742503,
          1.6890326074522692,
          0.03049310183740236,
          2.2933156271260735
        ],
        "joint_status_l": {
          "velocity": [
            0.28972651359904233,
            -1.9874378432698236,
            0.6167769041548476,
            4.127567772785667,
            1.1360744987425342,
            -3.2433983962452118,
            -2.0481596251933354
          ],
          "torque": [
            -19.57763671875,
            4.130859375,
            -9.796142578125,
            0.927734375,
            -1.0675048828125,
            -2.77587890625,
            -0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -9.838355419844902,
            3.029005069129287,
            4.359563101650643,
            -5.699817083938186,
            5.7325940732428915,
            -7.775129027812078,
            -10.323697386513064
          ],
          "torque": [
            14.17236328125,
            17.92236328125,
            18.61572265625,
            -5.303955078125,
            4.669189453125,
            0.3277587890625,
            -0.567626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.2,
            -8.2,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.2,
            -8.2,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.9,
            0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.9,
            0.3,
            1.0,
            0.2,
            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": -272,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35265049024672773,
          -0.344787647932641,
          -0.1110850832521444,
          -1.4093381332277661,
          -0.06831952065859155,
          -0.6054529233255959,
          0.2901700482585465
        ],
        "act_joint_pos_r": [
          -0.724010517318415,
          -0.21472273546318893,
          0.36665767539468563,
          -1.444738705883517,
          0.16881950958508088,
          0.6056971797216317,
          -0.48668141041544677
        ],
        "act_eef_pose_l": [
          468.87428750798233,
          349.43589076978367,
          104.45323144788796,
          1.680914659643084,
          -0.03157609377096298,
          0.7775656482634822
        ],
        "act_eef_pose_r": [
          426.5046644042035,
          -405.31234812687865,
          62.530543346919785,
          1.7156139813280937,
          0.06117590052591932,
          2.245827777669151
        ],
        "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": [
          0.34780549755185275,
          -0.3272298441395158,
          -0.11639807203122159,
          -1.4444813664976832,
          -0.07460944508539584,
          -0.5788592593881071,
          0.3037299611985897
        ],
        "joint_pos_r": [
          -0.6375900748965959,
          -0.23326917082660462,
          0.33885867310039963,
          -1.4016269807724175,
          0.09949393544425432,
          0.6660007092548347,
          -0.37243600994527715
        ],
        "eef_pose_l": [
          465.3692179496115,
          348.7229422749603,
          110.96959908839915,
          1.6735511188210097,
          -0.04773456871832961,
          0.7864428712433871
        ],
        "eef_pose_r": [
          434.4720392786568,
          -402.1643058680927,
          80.43561668056827,
          1.6926256253918086,
          0.03520274162457278,
          2.2853010783406718
        ],
        "joint_status_l": {
          "velocity": [
            0.5232437787960897,
            -1.8961868846143481,
            0.5737858652308248,
            3.795357255073739,
            0.6792918034540518,
            -2.872030999221842,
            -1.4644274065473972
          ],
          "torque": [
            -19.130859375,
            4.1015625,
            -11.4501953125,
            0.9765625,
            -0.9814453125,
            -2.7044677734375,
            -0.54290771484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -9.333132515526366,
            2.002955945221263,
            3.002203702517914,
            -4.655928992711722,
            7.48694119168225,
            -6.512589111037137,
            -12.338139356809386
          ],
          "torque": [
            14.52392578125,
            18.75,
            18.157958984375,
            -6.365966796875,
            4.5758056640625,
            0.567626953125,
            -1.014404296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.4,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.4,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.5,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.5,
            0.5,
            1.0,
            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": -187,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36048133704638735,
          -0.3451017682243074,
          -0.11100077257962485,
          -1.4074369151712445,
          -0.08675573437428546,
          -0.6031893435116753,
          0.30814270884434103
        ],
        "act_joint_pos_r": [
          -0.7276098887230126,
          -0.22501430435679792,
          0.3532979082675366,
          -1.4399064911350477,
          0.18597986138400513,
          0.6081452280428568,
          -0.515131702361805
        ],
        "act_eef_pose_l": [
          469.1878875079824,
          350.55349076978365,
          102.54203144788795,
          1.6773267686417352,
          -0.029541512822535778,
          0.7838366257651936
        ],
        "act_eef_pose_r": [
          426.62706440420345,
          -402.4515481268787,
          56.19774334691988,
          1.7172735796255783,
          0.0628241600837408,
          2.251247200011441
        ],
        "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": [
          0.34933469199228373,
          -0.33036118994925673,
          -0.11545144985437326,
          -1.4381044596619372,
          -0.07508074360995778,
          -0.5833668332491803,
          0.3028760519768027
        ],
        "joint_pos_r": [
          -0.6532279478589107,
          -0.23101365812205532,
          0.3424449384649367,
          -1.408768858991675,
          0.113458137643506,
          0.6555820338852704,
          -0.3954653712664194
        ],
        "eef_pose_l": [
          466.03174110645466,
          348.9498390553751,
          109.65725547592257,
          1.6745482726983214,
          -0.04469120569068974,
          0.7853972871191339
        ],
        "eef_pose_r": [
          433.19692564489,
          -402.40282838709334,
          76.71587605990294,
          1.6959650370824872,
          0.03999158966145979,
          2.278773913846341
        ],
        "joint_status_l": {
          "velocity": [
            1.2038021615965455,
            -1.5919355020774795,
            0.48065896939430974,
            3.3119971228625644,
            -1.260861815415848,
            -2.1407679697729165,
            0.5687821663604709
          ],
          "torque": [
            -17.4462890625,
            4.19677734375,
            -10.650634765625,
            0.52490234375,
            -3.3380126953125,
            -2.816162109375,
            0.172119140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.03301269227763,
            0.6479110975314839,
            1.1720861698467644,
            -3.3627650920280416,
            7.832115168084575,
            -5.1230239354671525,
            -12.923582597607286
          ],
          "torque": [
            13.39599609375,
            17.79052734375,
            17.047119140625,
            -5.5419921875,
            4.2626953125,
            0.684814453125,
            -0.8441162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.2,
            -7.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -16.2,
            -7.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -16.4,
            1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.4,
            1.3,
            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": -221,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37145597320143364,
          -0.3533473338652644,
          -0.10850616099569652,
          -1.3830399917194636,
          -0.12550166077254163,
          -0.6352714408344824,
          0.35689689650415873
        ],
        "act_joint_pos_r": [
          -0.7234232833410142,
          -0.24453780435468883,
          0.32966521183951114,
          -1.424533375041442,
          0.21452055837963568,
          0.6276740475902579,
          -0.5417696123769954
        ],
        "act_eef_pose_l": [
          469.83348750798234,
          351.72469076978365,
          100.78603144788786,
          1.6594138840846437,
          -0.03723945470447748,
          0.7743775174163608
        ],
        "act_eef_pose_r": [
          427.8646644042035,
          -397.1099481268787,
          50.06574334691982,
          1.7072290849738163,
          0.049966329493751696,
          2.2650460136057733
        ],
        "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": [
          0.35195843891112183,
          -0.3333789919726913,
          -0.11453991340982726,
          -1.431303797531524,
          -0.07979370668528803,
          -0.5889387368042325,
          0.30725712798275856
        ],
        "joint_pos_r": [
          -0.6650964218456269,
          -0.23170418490044614,
          0.34219940166419094,
          -1.412567407226387,
          0.12783161307176555,
          0.6494608936674504,
          -0.4174257777828905
        ],
        "eef_pose_l": [
          466.6096033511242,
          349.28848860097753,
          108.34236007910572,
          1.6738526023777232,
          -0.04264850542018273,
          0.7843565363119058
        ],
        "eef_pose_r": [
          432.3344089103461,
          -401.90435457869165,
          72.88990722816786,
          1.6980069709004557,
          0.042707234839339296,
          2.2755959765745777
        ],
        "joint_status_l": {
          "velocity": [
            2.1056715998897246,
            -2.1565173213193845,
            0.651626042043385,
            5.212337298033276,
            -4.936313452640451,
            -5.003784456532934,
            5.3609368879294905
          ],
          "torque": [
            -16.09130859375,
            4.35791015625,
            -10.9375,
            0.54931640625,
            -3.8836669921875,
            -2.9132080078125,
            1.40899658203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.299115259027488,
            -1.3859900234673983,
            -1.3536525772170904,
            -1.2922864100737286,
            9.362129971986155,
            -2.352909980966267,
            -13.42873807670486
          ],
          "torque": [
            13.70361328125,
            9.03076171875,
            10.3515625,
            -6.23779296875,
            4.4805908203125,
            0.7745361328125,
            -0.91552734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.2,
            -6.0,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -15.2,
            -6.0,
            1.2,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -15.8,
            -1.5,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -15.8,
            -1.5,
            0.9,
            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": -204,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37144996286901727,
          -0.35596417246362894,
          -0.10777562883780367,
          -1.3756354207124983,
          -0.1185596052832034,
          -0.6437933122371441,
          0.34530602084696904
        ],
        "act_joint_pos_r": [
          -0.7183310505611802,
          -0.2529906000457217,
          0.3213744073041201,
          -1.4249163140061587,
          0.20537311927181667,
          0.623131169848373,
          -0.5383364912446894
        ],
        "act_eef_pose_l": [
          469.96948750798236,
          351.87429076978367,
          99.65883144788796,
          1.6622455925215405,
          -0.030590497017175523,
          0.770072204883053
        ],
        "act_eef_pose_r": [
          428.6630644042035,
          -393.32674812687867,
          46.7737433469199,
          1.7136580091104603,
          0.04898502490349976,
          2.2724940832185236
        ],
        "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": [
          0.35540525068656814,
          -0.33713431212243433,
          -0.1134103528757978,
          -1.4221344029730763,
          -0.08727903283852129,
          -0.5978626566366011,
          0.3150383640715107
        ],
        "joint_pos_r": [
          -0.6749026013448254,
          -0.23481403574978132,
          0.3391586049738131,
          -1.4147211800355923,
          0.14224909550874767,
          0.6451569378633446,
          -0.43906933700616413
        ],
        "eef_pose_l": [
          467.207466692659,
          349.7140247239044,
          106.87319219831657,
          1.6717846736842041,
          -0.04094681196441753,
          0.7820655054866256
        ],
        "eef_pose_r": [
          431.7400469174719,
          -400.6440690683198,
          68.59035018411805,
          1.6998626777912105,
          0.04397175173592422,
          2.2746845936912985
        ],
        "joint_status_l": {
          "velocity": [
            1.7327778101545732,
            -2.033564940056909,
            0.60853224840407,
            5.021741975779648,
            -3.378202189277979,
            -4.960364506727544,
            3.268810523336274
          ],
          "torque": [
            -16.60400390625,
            2.8271484375,
            -10.70556640625,
            -0.1708984375,
            -4.16748046875,
            -2.801513671875,
            0.5401611328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.690134187252504,
            -1.9630110480453045,
            -1.920636702175127,
            -1.1010419953230155,
            6.817193504036645,
            -2.378712789233184,
            -10.720536472438535
          ],
          "torque": [
            15.00732421875,
            8.7890625,
            9.625244140625,
            -5.9326171875,
            4.0081787109375,
            1.2139892578125,
            -0.8477783203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.2,
            -9.2,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.2,
            -9.2,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.2,
            0.6,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.2,
            0.6,
            0.9,
            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": -187,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37038314118532695,
          -0.3587256431738709,
          -0.10722743442500395,
          -1.374407226419346,
          -0.09634548973167882,
          -0.6401839772558222,
          0.3225387608411811
        ],
        "act_joint_pos_r": [
          -0.7144429217602958,
          -0.26864422490849493,
          0.3065482277384431,
          -1.4166170162733942,
          0.20956475268057417,
          0.6267038761703033,
          -0.5478651567056028
        ],
        "act_eef_pose_l": [
          470.3078875079824,
          351.1038907697837,
          96.95643144788784,
          1.6752992357063645,
          -0.025565794954884424,
          0.7681732330676981
        ],
        "act_eef_pose_r": [
          430.10146440420345,
          -388.66514812687865,
          41.09534334691989,
          1.715625689068091,
          0.04448428776000563,
          2.282160159780963
        ],
        "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": [
          0.3581504657919061,
          -0.34070076101579183,
          -0.11236700414706985,
          -1.4138075074718819,
          -0.0909018226370125,
          -0.605673591851614,
          0.31843455457778547
        ],
        "joint_pos_r": [
          -0.6826221998668685,
          -0.2402227770486144,
          0.33392831159269776,
          -1.415602546634799,
          0.15471011341730784,
          0.6414434895974487,
          -0.4590353286689836
        ],
        "eef_pose_l": [
          467.74733127430113,
          350.02654150018265,
          105.35146255005391,
          1.6713346582410382,
          -0.03860826608822899,
          0.7797213990044269
        ],
        "eef_pose_r": [
          431.4708226363992,
          -398.67183419916626,
          63.79430911380723,
          1.7024382750675027,
          0.044401048501676234,
          2.2756077539687705
        ],
        "joint_status_l": {
          "velocity": [
            1.3210899790228048,
            -1.9466298602934806,
            0.5550571594472586,
            4.2551048560639515,
            -0.587898707078427,
            -3.7270117013195048,
            0.4432412037465028
          ],
          "torque": [
            -17.431640625,
            3.84521484375,
            -10.9130859375,
            0.29296875,
            -4.0228271484375,
            -2.6934814453125,
            0.36163330078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.4365366092607985,
            -3.0694258409909025,
            -2.956961845332007,
            -0.1095594896831642,
            5.924126317666589,
            -1.5918313015772512,
            -9.593338487560388
          ],
          "torque": [
            14.384765625,
            9.10400390625,
            9.613037109375,
            -5.224609375,
            3.9898681640625,
            1.04736328125,
            -1.0235595703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -15.8,
            -9.4,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -15.8,
            -9.4,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -16.3,
            0.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -16.3,
            0.2,
            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": -143,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37108366310613017,
          -0.37316922232244093,
          -0.10401801605240014,
          -1.3591402618808068,
          -0.09792863056130599,
          -0.6579010741153445,
          0.32649200615551227
        ],
        "act_joint_pos_r": [
          -0.7130682286118031,
          -0.2880120683810668,
          0.28946063086570906,
          -1.3927790353926932,
          0.23962352703372902,
          0.6483872951480809,
          -0.5742775179481747
        ],
        "act_eef_pose_l": [
          471.85428750798235,
          347.2614907697837,
          94.98603144788791,
          1.672056062849355,
          -0.023413737287379735,
          0.7522355633891212
        ],
        "act_eef_pose_r": [
          432.59586440420344,
          -386.4195481268787,
          36.19214334691992,
          1.7025918897621242,
          0.034898993235591466,
          2.287847687077192
        ],
        "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": [
          0.36021196943262845,
          -0.34470537489201797,
          -0.11129067817762947,
          -1.4062295101791802,
          -0.0919108833418329,
          -0.6126243719291584,
          0.3193943028463393
        ],
        "joint_pos_r": [
          -0.6876982538882757,
          -0.24708065266709597,
          0.3274989408243292,
          -1.413079375647496,
          0.1671198772508815,
          0.6414671841075179,
          -0.4766189835369666
        ],
        "eef_pose_l": [
          468.3069076807576,
          349.933919776081,
          103.82775523448409,
          1.6718034759052072,
          -0.03628894985016448,
          0.7766588062864811
        ],
        "eef_pose_r": [
          431.6264574570385,
          -396.77737249212225,
          59.52662434682273,
          1.703005725701325,
          0.043232936874586965,
          2.277577621113971
        ],
        "joint_status_l": {
          "velocity": [
            1.174108288265252,
            -3.0740048595587766,
            0.7854243446719922,
            5.085488827749174,
            -0.6498975319999545,
            -4.889739620946187,
            0.7665293498160253
          ],
          "torque": [
            -16.904296875,
            3.3984375,
            -11.2548828125,
            -0.78125,
            -4.24072265625,
            -3.2025146484375,
            0.556640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.7398764618036253,
            -4.420462522535695,
            -4.108016316066276,
            2.192372086961214,
            7.830163238227383,
            0.7473499504726533,
            -10.54681065485763
          ],
          "torque": [
            15.1611328125,
            9.71923828125,
            9.149169921875,
            -1.20849609375,
            3.9056396484375,
            3.0120849609375,
            -0.750732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.4,
            -5.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.4,
            -5.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -15.6,
            0.3,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -15.6,
            0.3,
            0.9,
            0.1,
            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": -192,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36070953513307796,
          -0.3935725706074245,
          -0.09970011057054265,
          -1.3306671964120416,
          -0.06242102851001283,
          -0.7005411439016198,
          0.29494832670400195
        ],
        "act_joint_pos_r": [
          -0.7097406905666231,
          -0.3063807063899649,
          0.27648325553131436,
          -1.3792945003523078,
          0.2672227398831195,
          0.6641180594860681,
          -0.5992961134285419
        ],
        "act_eef_pose_l": [
          472.74708750798237,
          341.38549076978364,
          93.63483144788785,
          1.6790902887547838,
          -0.01972036686488036,
          0.7133104815688479
        ],
        "act_eef_pose_r": [
          435.1054644042035,
          -381.64994812687866,
          34.068143346919896,
          1.6853956339014133,
          0.028291201521610996,
          2.2963938132639847
        ],
        "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": [
          0.3613861835058263,
          -0.35120913950028965,
          -0.10969348183745153,
          -1.395850777394807,
          -0.09041471144695803,
          -0.6237040971057246,
          0.3183748820178226
        ],
        "joint_pos_r": [
          -0.6918529044578474,
          -0.2561447113801506,
          0.3194826505664756,
          -1.408148862813105,
          0.1826842933732393,
          0.6442553815821022,
          -0.4963743131083539
        ],
        "eef_pose_l": [
          469.05413132836793,
          349.0487883002683,
          102.18338440202938,
          1.6722838281341117,
          -0.033797911727258496,
          0.7695504457519766
        ],
        "eef_pose_r": [
          432.1245062265792,
          -394.46962312079603,
          55.18148253333189,
          1.701184486317119,
          0.04086284120687941,
          2.280672404619423
        ],
        "joint_status_l": {
          "velocity": [
            -0.07307586899951701,
            -4.575115623747905,
            1.0792522659820447,
            7.039619123670349,
            3.023228591829019,
            -8.298156312918081,
            -2.5299933557274557
          ],
          "torque": [
            -23.8330078125,
            1.9775390625,
            -10.791015625,
            -0.048828125,
            -2.135009765625,
            -3.39111328125,
            -0.5255126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.9318239236465473,
            -5.425327449579909,
            -4.643797702305719,
            3.116179238974226,
            9.12988295156314,
            2.1451059471093714,
            -11.115226608494844
          ],
          "torque": [
            13.9892578125,
            9.58740234375,
            9.368896484375,
            -2.044677734375,
            3.8067626953125,
            3.2720947265625,
            -0.7928466796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.9,
            -7.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.9,
            -7.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -15.6,
            1.3,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -15.6,
            1.3,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -188,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.354170787256945,
          -0.4115074784723352,
          -0.09667916429225759,
          -1.3187398732456121,
          -0.05390618556470714,
          -0.7180391830978506,
          0.2868722005577045
        ],
        "act_joint_pos_r": [
          -0.7069189115199966,
          -0.32361000000380147,
          0.26491753768769044,
          -1.3528917353967325,
          0.27832660669446696,
          0.6908670241056221,
          -0.6060569815179645
        ],
        "act_eef_pose_l": [
          474.4478875079824,
          334.49349076978365,
          93.94603144788795,
          1.6760412900841295,
          -0.017373179884199032,
          0.6895806784562268
        ],
        "act_eef_pose_r": [
          437.25586440420346,
          -380.1083481268787,
          30.72094334691974,
          1.6746241868811842,
          0.0197257484246058,
          2.306139394521012
        ],
        "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": [
          0.3607049604100731,
          -0.36023970522791643,
          -0.1076671132187367,
          -1.3833013838898693,
          -0.08473388836485483,
          -0.638792367065632,
          0.31353924506418396
        ],
        "joint_pos_r": [
          -0.6946971979098346,
          -0.2669710597662619,
          0.31057488777384246,
          -1.4000678064109164,
          0.1988843931103529,
          0.6507856987091974,
          -0.515334668110272
        ],
        "eef_pose_l": [
          469.9453186475676,
          347.11469828217037,
          100.73661825761955,
          1.6729459088189647,
          -0.031237669316645286,
          0.7576336177948827
        ],
        "eef_pose_r": [
          432.9477633216231,
          -392.0318714336463,
          51.01587265265903,
          1.697325540026267,
          0.03723077062557658,
          2.2850691989296923
        ],
        "joint_status_l": {
          "velocity": [
            -0.7056698879175372,
            -5.5367562125017145,
            1.1866634852910618,
            6.972437508528273,
            3.3292937101467857,
            -8.558403714854279,
            -2.8799558669416747
          ],
          "torque": [
            -27.69287109375,
            0.50537109375,
            -9.979248046875,
            -0.518798828125,
            -1.314697265625,
            -3.0926513671875,
            -0.60791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3199061413464719,
            -6.116825139540039,
            -4.930848381705211,
            5.094865404508653,
            8.579506028079997,
            4.328655475944743,
            -9.797720879699767
          ],
          "torque": [
            15.12451171875,
            8.57666015625,
            9.3505859375,
            -1.025390625,
            4.072265625,
            3.782958984375,
            -0.889892578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.0,
            -13.0,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.0,
            -13.0,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.0,
            -0.7,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.0,
            -0.7,
            0.9,
            0.1,
            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": -179,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34945041679710676,
          -0.43311563340433945,
          -0.09297075216490075,
          -1.2856722985064937,
          -0.04652170681260311,
          -0.7540254221517801,
          0.28113527644021485
        ],
        "act_joint_pos_r": [
          -0.7018028438901642,
          -0.33989998388665627,
          0.2568071435951746,
          -1.344682837048169,
          0.2854246091345942,
          0.7001416886971138,
          -0.6118940557685376
        ],
        "act_eef_pose_l": [
          477.25188750798236,
          330.9774907697836,
          92.77883144788808,
          1.6733228709801429,
          -0.015084015960393826,
          0.6649089884932805
        ],
        "act_eef_pose_r": [
          439.42866440420346,
          -374.4555481268787,
          29.296143346919735,
          1.6647318459040263,
          0.013798206919132338,
          2.3179289944249337
        ],
        "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": [
          0.35914425059450733,
          -0.37116011348193784,
          -0.1054058513137712,
          -1.3690463289952204,
          -0.0786490690445293,
          -0.6558945794023732,
          0.30833156675299556
        ],
        "joint_pos_r": [
          -0.6960271977711219,
          -0.2760186826267514,
          0.30364352176594267,
          -1.392918228521997,
          0.21043902328387504,
          0.6570259162642361,
          -0.528366371570614
        ],
        "eef_pose_l": [
          471.1007232021236,
          344.60145412204616,
          99.47234234029429,
          1.6728953052458004,
          -0.028707017052166956,
          0.7435714521585157
        ],
        "eef_pose_r": [
          433.7381703389303,
          -389.98205503812454,
          48.028614804855806,
          1.6936291387951987,
          0.033974296915211775,
          2.289209550978919
        ],
        "joint_status_l": {
          "velocity": [
            -1.046903173360647,
            -6.690998811158089,
            1.3429510998524963,
            9.004129730172394,
            3.4696527891091566,
            -10.597818450987617,
            -2.9371127282713516
          ],
          "torque": [
            -28.9599609375,
            0.908203125,
            -10.400390625,
            -0.457763671875,
            -1.190185546875,
            -2.5323486328125,
            -0.57586669921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6237513842926035,
            -6.898977061617684,
            -5.05817965940869,
            5.209268640008702,
            8.09820442810505,
            4.656366090573627,
            -9.020723841347333
          ],
          "torque": [
            15.8349609375,
            7.85888671875,
            9.814453125,
            -2.45361328125,
            4.5208740234375,
            3.980712890625,
            -0.73516845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -17.0,
            -12.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.0,
            -12.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.9,
            0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.9,
            0.6,
            1.1,
            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": -206,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34890164284922914,
          -0.44014106546417414,
          -0.0922018415470524,
          -1.281445932505235,
          -0.04863946820711224,
          -0.7542617324178407,
          0.283323504179141
        ],
        "act_joint_pos_r": [
          -0.7004952605579157,
          -0.3481983486878766,
          0.2529089940232292,
          -1.33402407353053,
          0.28579076722255703,
          0.7121213162009913,
          -0.6111105834572774
        ],
        "act_eef_pose_l": [
          478.75028750798236,
          329.0014907697837,
          92.5132314478879,
          1.6712756202405425,
          -0.014886061291120375,
          0.6623910243490295
        ],
        "act_eef_pose_r": [
          440.2142644042035,
          -372.8691481268787,
          27.93454334692001,
          1.6604160784635682,
          0.009894154794849367,
          2.325172402295331
        ],
        "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": [
          0.3573907317220157,
          -0.3826209161991151,
          -0.10315178144254006,
          -1.3540003711019217,
          -0.07312137560720763,
          -0.6732619757683744,
          0.303680809033072
        ],
        "joint_pos_r": [
          -0.6967550546097823,
          -0.28406911387310047,
          0.2977411209873842,
          -1.386839521685376,
          0.21988883553648356,
          0.6624594399207432,
          -0.5388926737206955
        ],
        "eef_pose_l": [
          472.4125972686042,
          342.0772758141368,
          98.29601812027829,
          1.6724892846393935,
          -0.026371221454787836,
          0.7295692141182735
        ],
        "eef_pose_r": [
          434.48231421563844,
          -388.04351092769724,
          45.611340206486716,
          1.6901289583575823,
          0.031110424545533037,
          2.2930967981992962
        ],
        "joint_status_l": {
          "velocity": [
            -0.916794558850853,
            -6.2119929076889235,
            1.1825586310102443,
            7.8356482683510364,
            2.64396801954192,
            -8.747715718058657,
            -2.1985240822228747
          ],
          "torque": [
            -30.57861328125,
            2.29248046875,
            -10.272216796875,
            0.146484375,
            -1.226806640625,
            -3.0889892578125,
            -0.58868408203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5451451640832161,
            -6.029556129211855,
            -4.420739175626132,
            4.552787663524072,
            7.07765480432565,
            4.069562842508034,
            -7.883916737471797
          ],
          "torque": [
            16.60400390625,
            10.2978515625,
            10.052490234375,
            -0.390625,
            4.449462890625,
            3.78662109375,
            -0.69580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -17.0,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.0,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.6,
            0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.6,
            0.2,
            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": -185,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34648459676527726,
          -0.45583244000931855,
          -0.09006453613060487,
          -1.2638018330054188,
          -0.049256533190236894,
          -0.7727907910050901,
          0.28596859949041387
        ],
        "act_joint_pos_r": [
          -0.6990104449570729,
          -0.3588497851553581,
          0.24811997060206303,
          -1.3268393472465043,
          0.28825878435195884,
          0.7192715122697694,
          -0.6131435671956577
        ],
        "act_eef_pose_l": [
          480.8046875079824,
          325.16309076978365,
          92.23403144788796,
          1.666175376414528,
          -0.015276391695569897,
          0.6465359650079678
        ],
        "act_eef_pose_r": [
          441.32386440420345,
          -369.5779481268787,
          26.145743346919744,
          1.6560062495562542,
          0.005408894232738103,
          2.332914316213944
        ],
        "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": [
          0.35585471107293754,
          -0.3929887828872104,
          -0.10122746403207028,
          -1.341047464935162,
          -0.06913252172016132,
          -0.6876546776192185,
          0.30048786897557367
        ],
        "joint_pos_r": [
          -0.6974183054295463,
          -0.2965060249226294,
          0.28912495972576197,
          -1.3766435681118254,
          0.23241952532686774,
          0.6720582331923235,
          -0.5526044885427854
        ],
        "eef_pose_l": [
          473.6669874620866,
          339.73544285448503,
          97.33679257294902,
          1.671775167695134,
          -0.02453019064888468,
          0.7176719297757219
        ],
        "eef_pose_r": [
          435.63773976113634,
          -385.11374790416886,
          42.12493926092816,
          1.684628015605235,
          0.026492523413851866,
          2.2996972355550485
        ],
        "joint_status_l": {
          "velocity": [
            -1.0119424995784776,
            -6.786914799834953,
            1.2055606572473065,
            8.342282205950013,
            2.1465434523168514,
            -9.194429070483956,
            -1.5680348576814218
          ],
          "torque": [
            -32.5634765625,
            -1.07666015625,
            -9.97314453125,
            3.89404296875,
            -1.263427734375,
            -3.515625,
            -0.5987548828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.17194599769698726,
            -6.732927528051658,
            -4.428408216440971,
            5.378697217260253,
            6.03046211573699,
            5.098883756825323,
            -6.538027665691448
          ],
          "torque": [
            16.0400390625,
            9.345703125,
            10.302734375,
            -1.519775390625,
            4.4805908203125,
            3.7921142578125,
            -0.81939697265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.6,
            0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.6,
            0.8,
            1.1,
            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": -230,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.344303814691364,
          -0.46802459068934427,
          -0.08848317132531151,
          -1.2484405131710368,
          -0.05028438179729041,
          -0.7909996564276136,
          0.28827720669574947
        ],
        "act_joint_pos_r": [
          -0.6979052436001675,
          -0.36437371819429876,
          0.24631126682363794,
          -1.3201546249605975,
          0.29335285627419644,
          0.7285480236833541,
          -0.6176057204030443
        ],
        "act_eef_pose_l": [
          482.14388750798236,
          322.28949076978364,
          92.39243144788799,
          1.6609510513237364,
          -0.01570914644350069,
          0.6322989218850573
        ],
        "act_eef_pose_r": [
          442.0838644042035,
          -368.4659481268787,
          26.38654334691978,
          1.648720298266417,
          0.0047388818541807135,
          2.3372742106553472
        ],
        "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": [
          0.35407127131098964,
          -0.40480855304955915,
          -0.09916187176332168,
          -1.326497144810727,
          -0.06567800791273479,
          -0.7037655714628079,
          0.2980548927361924
        ],
        "joint_pos_r": [
          -0.6976672170109172,
          -0.30769182506161474,
          0.28182159476279767,
          -1.3676406326095347,
          0.2424425984876058,
          0.6806794995252444,
          -0.5634398942227066
        ],
        "eef_pose_l": [
          475.11206356832673,
          337.0283208680378,
          96.43949792796376,
          1.6702855970176247,
          -0.022896148702670253,
          0.7043393355295651
        ],
        "eef_pose_r": [
          436.7002134446073,
          -382.3708470047334,
          39.226637459181234,
          1.6795542348186177,
          0.022357619118983037,
          2.3059117461013576
        ],
        "joint_status_l": {
          "velocity": [
            -1.0548542036579178,
            -6.827130709639473,
            1.1532656335534464,
            8.429867591432938,
            1.6624625887549094,
            -9.42100331855844,
            -1.0559589485232834
          ],
          "torque": [
            -32.197265625,
            0.63720703125,
            -9.6435546875,
            3.741455078125,
            -1.3568115234375,
            -3.570556640625,
            -0.64361572265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.025706113476964276,
            -6.121463915402359,
            -3.8350023100823805,
            5.128337573854225,
            5.498145681812838,
            5.169648138454441,
            -5.8497366987149135
          ],
          "torque": [
            15.791015625,
            10.2392578125,
            9.808349609375,
            -1.251220703125,
            4.1015625,
            4.061279296875,
            -0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.7,
            -8.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.7,
            -8.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.1,
            0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.1,
            0.5,
            1.1,
            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": -171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3367032503689347,
          -0.4750597749764712,
          -0.08778871277371054,
          -1.2426078647371803,
          -0.030894022867256635,
          -0.8042819025194358,
          0.26981056274624576
        ],
        "act_joint_pos_r": [
          -0.6957382625926298,
          -0.3666284547083289,
          0.24658438526425555,
          -1.3252475134655168,
          0.2947799951501917,
          0.7262420184959012,
          -0.6204723267029526
        ],
        "act_eef_pose_l": [
          481.94708750798236,
          319.01589076978365,
          93.17323144788799,
          1.6664855401928458,
          -0.014422202259159663,
          0.6151963284184113
        ],
        "act_eef_pose_r": [
          442.42706440420346,
          -365.9315481268787,
          27.66654334691998,
          1.6445678182678716,
          0.005981900782851908,
          2.341161340113541
        ],
        "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": [
          0.35160787785812303,
          -0.4159948448753983,
          -0.09732797854976265,
          -1.3130068260839705,
          -0.06095930472360161,
          -0.7196052543477568,
          0.2943636585107593
        ],
        "joint_pos_r": [
          -0.69755010435241,
          -0.3171726343913295,
          0.2760035547756879,
          -1.3602013605781285,
          0.2509149066467179,
          0.6883825946469901,
          -0.5725511907610384
        ],
        "eef_pose_l": [
          476.3565110066045,
          334.2570564691778,
          95.87225502392202,
          1.6690482929526846,
          -0.021595335864064497,
          0.6906417217866022
        ],
        "eef_pose_r": [
          437.63246421773397,
          -379.9236001297181,
          37.14003933054332,
          1.6743572715279202,
          0.019238912056225885,
          2.3115284078282925
        ],
        "joint_status_l": {
          "velocity": [
            -1.6096522946758007,
            -6.378824317549103,
            1.0302103193845502,
            7.602863590976838,
            3.246954676676017,
            -9.14480829083697,
            -2.651656136150482
          ],
          "torque": [
            -32.900390625,
            2.6220703125,
            -9.66796875,
            0.274658203125,
            -1.3037109375,
            -2.65869140625,
            -0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1956731389860522,
            -5.341071067765046,
            -3.1771766014199176,
            3.774904153315717,
            4.737289839479741,
            4.088697186004353,
            -5.175330043525328
          ],
          "torque": [
            22.27294921875,
            8.76708984375,
            10.25390625,
            -1.26953125,
            4.5941162109375,
            3.9788818359375,
            -0.772705078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.5,
            -9.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.7,
            -16.5,
            -9.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -18.1,
            0.2,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -18.1,
            0.2,
            1.2,
            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": -206,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3344124462981932,
          -0.4780852767151288,
          -0.08768252934858707,
          -1.2431229507780117,
          -0.030184626159291367,
          -0.8048842764850361,
          0.27062949675955356
        ],
        "act_joint_pos_r": [
          -0.6910882317931542,
          -0.3792319532636182,
          0.2413189733218908,
          -1.3182027151164324,
          0.2882158451742969,
          0.7379874077300824,
          -0.6123317148139538
        ],
        "act_eef_pose_l": [
          482.2694875079824,
          317.25589076978366,
          94.10683144788806,
          1.664667573771651,
          -0.0168484175820565,
          0.6110225862383555
        ],
        "act_eef_pose_r": [
          443.17186440420346,
          -360.6083481268787,
          26.545743346919835,
          1.6395961877986713,
          -0.0011837392255411537,
          2.3576637084639427
        ],
        "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": [
          0.3489297713178684,
          -0.42600577606788187,
          -0.09574920618838853,
          -1.3014847982946132,
          -0.05594615231396786,
          -0.7335856156506799,
          0.2904086995126892
        ],
        "joint_pos_r": [
          -0.6969169706655485,
          -0.32621167488867564,
          0.2707875351018971,
          -1.3539471688474376,
          0.2576528359328157,
          0.6954533704644237,
          -0.5798422496694481
        ],
        "eef_pose_l": [
          477.397757465874,
          331.58776537036067,
          95.53313599837207,
          1.668132709240697,
          -0.02069111157680992,
          0.6778840812250102
        ],
        "eef_pose_r": [
          438.5004153290069,
          -377.26272942325033,
          35.43648503873695,
          1.6692447896351927,
          0.016285782966810842,
          2.3176953322842193
        ],
        "joint_status_l": {
          "velocity": [
            -1.5678248616022294,
            -5.624420186495893,
            0.8711754047534548,
            6.3028936378817235,
            2.7821627692004025,
            -7.700028269915116,
            -2.1360908967054115
          ],
          "torque": [
            -31.07666015625,
            3.603515625,
            -9.429931640625,
            -0.311279296875,
            -1.34033203125,
            -3.134765625,
            -0.55755615234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6294852325448019,
            -5.726021184525809,
            -3.182510809101702,
            3.860287149866082,
            3.3007076489115494,
            4.593540545454466,
            -3.5087587502991013
          ],
          "torque": [
            24.30908203125,
            9.63134765625,
            9.552001953125,
            -0.750732421875,
            4.302978515625,
            4.1162109375,
            -0.7086181640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -17.3,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -17.3,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.6,
            0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.6,
            0.6,
            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": -187,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33137171153150236,
          -0.4834956116072394,
          -0.08699297843669147,
          -1.2312219374011542,
          -0.01917118684085273,
          -0.8205462031740083,
          0.25969202100256106
        ],
        "act_joint_pos_r": [
          -0.6879448583819264,
          -0.3883851443708358,
          0.237275288240196,
          -1.3052393564100861,
          0.27961632073431186,
          0.7512779923467772,
          -0.6032193878401392
        ],
        "act_eef_pose_l": [
          482.4118875079823,
          316.7478907697836,
          93.59563144788791,
          1.668695507331299,
          -0.014327342975801854,
          0.600497944555557
        ],
        "act_eef_pose_r": [
          443.9366644042035,
          -358.78354812687866,
          24.836143346919926,
          1.6388045077302982,
          -0.005377936925714121,
          2.368168326338616
        ],
        "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": [
          0.3460198611114282,
          -0.4358243870782058,
          -0.09424513903496207,
          -1.2898229890567385,
          -0.05014851032594884,
          -0.747959154319113,
          0.28567735453810844
        ],
        "joint_pos_r": [
          -0.6955451515704729,
          -0.3370206031200391,
          0.2648695888940757,
          -1.346076772529866,
          0.26269180038793566,
          0.7046353538996705,
          -0.5852013432355576
        ],
        "eef_pose_l": [
          478.358919310354,
          328.9997856739177,
          95.2437463262607,
          1.6676264793588305,
          -0.01980113473356716,
          0.664924189056126
        ],
        "eef_pose_r": [
          439.48959502565725,
          -373.99721097019784,
          33.53278319573542,
          1.6637159593681372,
          0.012343124119407588,
          2.3261698841701945
        ],
        "joint_status_l": {
          "velocity": [
            -1.581953497407973,
            -5.148340406952112,
            0.7832102450617828,
            6.3287269229803655,
            3.3454522675500087,
            -7.839170072365675,
            -2.806333253464466
          ],
          "torque": [
            -32.90771484375,
            2.61474609375,
            -9.2529296875,
            -0.152587890625,
            -1.622314453125,
            -3.197021484375,
            -0.71136474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8208074559412637,
            -5.54720684896548,
            -2.9800965773687516,
            4.410310865770484,
            1.8277942894975308,
            5.037256386350997,
            -1.9458914262946436
          ],
          "torque": [
            25.21728515625,
            9.7265625,
            8.48388671875,
            -1.446533203125,
            4.1510009765625,
            4.1436767578125,
            -0.574951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.6,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.6,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.2,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.2,
            -0.2,
            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": -196,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3263535503070242,
          -0.49559914052938586,
          -0.08538710236816739,
          -1.208915625968557,
          0.008091311029686464,
          -0.8520550735891231,
          0.23221303625944442
        ],
        "act_joint_pos_r": [
          -0.682792060074477,
          -0.4057337007447702,
          0.2303780798533544,
          -1.2908695717662648,
          0.27629523345403584,
          0.7669460439291339,
          -0.5989325489825159
        ],
        "act_eef_pose_l": [
          482.05188750798237,
          314.59429076978364,
          91.14203144788809,
          1.6814625359214679,
          -0.005041875996573412,
          0.5760399965118566
        ],
        "act_eef_pose_r": [
          445.72146440420346,
          -353.4259481268787,
          23.010543346919803,
          1.631670826895776,
          -0.01165960783096958,
          2.3845878444565196
        ],
        "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": [
          0.34286368163849995,
          -0.44561885672186663,
          -0.092781684482915,
          -1.276944723306055,
          -0.04159508187754236,
          -0.7643487046920175,
          0.2779821228904543
        ],
        "joint_pos_r": [
          -0.6939241730477987,
          -0.34671555540288107,
          0.25983591377294474,
          -1.338327205173619,
          0.2652346564022945,
          0.7134328800491455,
          -0.5878543371607299
        ],
        "eef_pose_l": [
          479.13355490638725,
          326.57096751960955,
          94.7354855695534,
          1.6686859429239405,
          -0.018047840441910493,
          0.6507846927126373
        ],
        "eef_pose_r": [
          440.3932485304881,
          -371.1564259702823,
          31.904283638636826,
          1.6592019671718605,
          0.008727919791805644,
          2.334205564271004
        ],
        "joint_status_l": {
          "velocity": [
            -1.7830415957984513,
            -5.397711454222076,
            0.7985913152009916,
            7.346925826455575,
            5.36597217309115,
            -9.47200847893015,
            -4.942915572647033
          ],
          "torque": [
            -33.1640625,
            1.845703125,
            -9.100341796875,
            -0.091552734375,
            -1.4337158203125,
            -3.2684326171875,
            -0.8367919921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2022327431600033,
            -6.373771712575582,
            -3.1813522343473455,
            5.125273246139983,
            1.194507091484498,
            5.779251249133921,
            -1.1964115904783412
          ],
          "torque": [
            26.78466796875,
            7.28759765625,
            9.80224609375,
            -2.84423828125,
            4.083251953125,
            4.742431640625,
            -0.55755615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.1,
            -16.4,
            -11.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -16.4,
            -11.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.5,
            0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.5,
            0.2,
            1.1,
            0.1,
            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": -230,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3250439960213534,
          -0.5020792136315841,
          -0.08461281777232478,
          -1.1965894724455335,
          0.020680348351130997,
          -0.8739022621851038,
          0.21904573409914974
        ],
        "act_joint_pos_r": [
          -0.6793767151460369,
          -0.41867794079387044,
          0.225966919588001,
          -1.2841563482032985,
          0.27180759850093983,
          0.7727461246489743,
          -0.5974686570843551
        ],
        "act_eef_pose_l": [
          480.9686875079824,
          313.08949076978365,
          89.61163144788799,
          1.6869932755119312,
          0.0017331951010046073,
          0.5589918249434104
        ],
        "act_eef_pose_r": [
          447.01266440420346,
          -348.5859481268787,
          21.295343346919935,
          1.629005354222735,
          -0.013746678931781659,
          2.39647058050415
        ],
        "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": [
          0.3398142965360439,
          -0.455100332867912,
          -0.09139724582452291,
          -1.2636905836170609,
          -0.03155793874833566,
          -0.7820289631038345,
          0.2685800752141402
        ],
        "joint_pos_r": [
          -0.6917096695453979,
          -0.3580837620050628,
          0.2543094687161666,
          -1.3294522614543502,
          0.266866693084217,
          0.7233126532690725,
          -0.5897075089796499
        ],
        "eef_pose_l": [
          479.64701431082676,
          324.2642177779793,
          94.0292729670945,
          1.6708339500463052,
          -0.015454941341452949,
          0.6358483783139469
        ],
        "eef_pose_r": [
          441.48631897595726,
          -367.7349151377785,
          30.13004723823994,
          1.654219003680772,
          0.004693760709559852,
          2.343869928827405
        ],
        "joint_status_l": {
          "velocity": [
            -1.5951454092877349,
            -5.07356948554305,
            0.732696619905715,
            7.246706276347936,
            5.6415686175702024,
            -9.922023666331548,
            -5.34955106384416
          ],
          "torque": [
            -31.64794921875,
            2.14599609375,
            -9.619140625,
            -0.567626953125,
            -1.6021728515625,
            -3.05419921875,
            -0.64178466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.331919792256997,
            -6.54397830486797,
            -3.0609050292738083,
            4.891814354760271,
            0.5336020472548331,
            5.338657453743956,
            -0.8381792745311145
          ],
          "torque": [
            28.08837890625,
            7.00927734375,
            9.857177734375,
            -2.24609375,
            4.2755126953125,
            4.3377685546875,
            -0.56854248046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -17.1,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -17.1,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.3,
            -0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.3,
            -0.2,
            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": -232,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3224896830208957,
          -0.5012257025693081,
          -0.08494993783718842,
          -1.203008193850844,
          0.02906717856733374,
          -0.8708984443614578,
          0.2124012161161256
        ],
        "act_joint_pos_r": [
          -0.677514346222226,
          -0.4329065028454884,
          0.22097472467955476,
          -1.2685084733676244,
          0.2756336033869933,
          0.7848556769431259,
          -0.6020908233773543
        ],
        "act_eef_pose_l": [
          480.21348750798234,
          311.6486907697837,
          89.99963144788791,
          1.6910205500922684,
          0.0009286995931229266,
          0.5553309073288405
        ],
        "act_eef_pose_r": [
          449.1022644042035,
          -345.9235481268787,
          19.305743346919826,
          1.622452576953184,
          -0.015493528594977508,
          2.403515108570739
        ],
        "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": [
          0.3370642291062795,
          -0.4627158808415438,
          -0.09032440194246237,
          -1.2534683721690323,
          -0.02191328523100211,
          -0.7967539587260993,
          0.2595995069848623
        ],
        "joint_pos_r": [
          -0.6897033076100686,
          -0.36830756481709226,
          0.2496472630384924,
          -1.3214483252490243,
          0.2678925598914034,
          0.7316895312262012,
          -0.5912188793990888
        ],
        "eef_pose_l": [
          479.84780353252904,
          322.19803432395963,
          93.42670346282594,
          1.6734284827810688,
          -0.013075107849234031,
          0.622692056884983
        ],
        "eef_pose_r": [
          442.53061512758904,
          -364.7008623826466,
          28.57523088014338,
          1.6499700815028329,
          0.0015177980975316918,
          2.3522643815942
        ],
        "joint_status_l": {
          "velocity": [
            -1.5740045544387904,
            -4.1589380852764535,
            0.5804250046492765,
            5.449538532818821,
            5.505727707461549,
            -8.007368283915461,
            -5.097265078026103
          ],
          "torque": [
            -33.58154296875,
            2.35107421875,
            -10.552978515625,
            -0.311279296875,
            -1.666259765625,
            -2.896728515625,
            -0.61614990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3163690056590127,
            -6.976479546801251,
            -3.096542815116843,
            5.717335379397781,
            0.8360080407845416,
            5.741774392844512,
            -1.1741353203822413
          ],
          "torque": [
            26.75537109375,
            8.701171875,
            9.759521484375,
            -0.76904296875,
            4.3927001953125,
            4.288330078125,
            -0.79010009765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.6,
            -0.2,
            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": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3208614665093247,
          -0.4997185407295991,
          -0.08520683319473724,
          -1.2042210227327041,
          0.0335142099503598,
          -0.8752988870032701,
          0.20685000110299095
        ],
        "act_joint_pos_r": [
          -0.6733803059312096,
          -0.44987206717458444,
          0.2151576824134269,
          -1.2478454353890605,
          0.27506402000967256,
          0.7986800367604392,
          -0.6035308544869787
        ],
        "act_eef_pose_l": [
          479.1958875079824,
          311.50389076978365,
          90.509231447888,
          1.69248178927109,
          0.0025570091555071465,
          0.5509722012585192
        ],
        "act_eef_pose_r": [
          451.9926644042035,
          -343.20114812687865,
          16.988143346919742,
          1.6173848620291207,
          -0.015952575441769798,
          2.411693258052617
        ],
        "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": [
          0.33428213619053354,
          -0.46933480595220367,
          -0.08940652589956731,
          -1.2446994312021016,
          -0.012339088110593092,
          -0.8104178784537343,
          0.25055487871851884
        ],
        "joint_pos_r": [
          -0.6873079685708491,
          -0.3807150654422424,
          0.244239690130288,
          -1.3108873896727706,
          0.2692281430925352,
          0.7418930833358343,
          -0.5932248103932171
        ],
        "eef_pose_l": [
          479.8442525983698,
          320.26542198066176,
          92.95135620215345,
          1.676236591352575,
          -0.010690793741814402,
          0.6101602700261928
        ],
        "eef_pose_r": [
          443.92207882932644,
          -361.3072107415815,
          26.721620605754822,
          1.6448500121468113,
          -0.0018176076155373975,
          2.3616886837610833
        ],
        "joint_status_l": {
          "velocity": [
            -1.4493895781098054,
            -3.2813465778143147,
            0.4535534352780868,
            4.371539183038564,
            4.952010138850923,
            -7.006942264633942,
            -4.71998757388481
          ],
          "torque": [
            -35.0830078125,
            3.66943359375,
            -10.58349609375,
            -1.019287109375,
            -1.7706298828125,
            -3.1475830078125,
            -0.58319091796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.504143202748942,
            -7.4687359085019445,
            -3.140764201532642,
            6.80833026167349,
            0.6302561186402045,
            6.13281009229194,
            -1.1130199353583947
          ],
          "torque": [
            29.1650390625,
            3.31787109375,
            8.258056640625,
            2.33154296875,
            4.2279052734375,
            4.537353515625,
            -0.63995361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.1,
            -16.7,
            -8.1,
            1.4,
            0.1,
            0.1
          ],
          "actual_contact_FT": [
            2.1,
            -16.7,
            -8.1,
            1.4,
            0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.5,
            1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.5,
            1.2,
            1.1,
            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": 1,
          "position": 20,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3179949380504065,
          -0.5008840748814098,
          -0.08510367248814742,
          -1.2022504297884213,
          0.04141905680521884,
          -0.8819220026532213,
          0.1972160986537746
        ],
        "act_joint_pos_r": [
          -0.669346889388164,
          -0.46162905715521835,
          0.21164835435286833,
          -1.2334825723545944,
          0.2749423608457069,
          0.8089437655677947,
          -0.6053908112118946
        ],
        "act_eef_pose_l": [
          478.63108750798233,
          310.8726907697836,
          90.75963144788813,
          1.6958131147437208,
          0.005678136466770863,
          0.5446697961706308
        ],
        "act_eef_pose_r": [
          454.2310644042035,
          -341.2435481268787,
          16.23854334691987,
          1.6121633013195258,
          -0.014400863360808513,
          2.4177328774586417
        ],
        "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": [
          0.3319987502181574,
          -0.47404701050129344,
          -0.08876017313643669,
          -1.2383857616214997,
          -0.004699868207983606,
          -0.820835328730399,
          0.24309327705907735
        ],
        "joint_pos_r": [
          -0.6846110597574604,
          -0.39362580091309357,
          0.2388938203740518,
          -1.2989064192764612,
          0.27025290560572585,
          0.7525299171849983,
          -0.5951550873175698
        ],
        "eef_pose_l": [
          479.73724660425717,
          318.8407455404349,
          92.65255959982555,
          1.6786283791970977,
          -0.008633365190495353,
          0.6005643229340081
        ],
        "eef_pose_r": [
          445.5400602901118,
          -358.08969132715407,
          24.87766335335442,
          1.639694102580149,
          -0.004537224895870555,
          2.370758141200771
        ],
        "joint_status_l": {
          "velocity": [
            -1.5123671092336366,
            -2.8983174717480686,
            0.39489042334484026,
            3.902500739865644,
            4.98069700362002,
            -6.597166210648098,
            -4.95458913997715
          ],
          "torque": [
            -35.22216796875,
            3.18603515625,
            -10.736083984375,
            -0.20751953125,
            -1.6058349609375,
            -2.603759765625,
            -0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.6484817805126895,
            -7.344135070463942,
            -2.942423548144335,
            7.065567079800772,
            0.5064462290846894,
            6.092515936188647,
            -1.1054255778022437
          ],
          "torque": [
            28.7109375,
            6.07177734375,
            9.08203125,
            1.18408203125,
            4.1473388671875,
            4.3048095703125,
            -0.6298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -17.0,
            -7.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.0,
            -7.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.2,
            0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.2,
            0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31467006898365063,
          -0.5065826077651588,
          -0.08426466177249903,
          -1.1873790707165286,
          0.050977815819526776,
          -0.9082722873490984,
          0.18457153616811203
        ],
        "act_joint_pos_r": [
          -0.6609866244931752,
          -0.48359969084395954,
          0.2050958891628662,
          -1.2078458444692841,
          0.27370953609971105,
          0.8207446000201203,
          -0.6094988248469757
        ],
        "act_eef_pose_l": [
          477.51508750798234,
          310.2598907697836,
          90.54123144788792,
          1.6987480269696866,
          0.012918688393738177,
          0.5273333694584907
        ],
        "act_eef_pose_r": [
          459.1910644042035,
          -337.8251481268787,
          14.436143346919835,
          1.6063825918006898,
          -0.00939599460723108,
          2.424592385375759
        ],
        "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": [
          0.328976322857579,
          -0.4797632493016799,
          -0.08797428259634842,
          -1.2298767178966101,
          0.005096956020579258,
          -0.8353564156586604,
          0.23299394112724023
        ],
        "joint_pos_r": [
          -0.6813094363933242,
          -0.4072334694245657,
          0.2336041487318296,
          -1.2854904802159772,
          0.27099315189650375,
          0.7633552206477072,
          -0.5972610443197826
        ],
        "eef_pose_l": [
          479.4573265662131,
          317.20548653622063,
          92.34052419581934,
          1.6817169126951776,
          -0.0054318557293612174,
          0.5879391433060907
        ],
        "eef_pose_r": [
          447.49508628670867,
          -354.9835069760191,
          23.134119299077184,
          1.6343628781990864,
          -0.006252938512105289,
          2.379423640082936
        ],
        "joint_status_l": {
          "velocity": [
            -1.545029850165136,
            -2.8964052891478076,
            0.40062723310707593,
            4.589610532121924,
            4.954986718764806,
            -7.874681891239632,
            -5.229465500745434
          ],
          "torque": [
            -36.13037109375,
            3.56689453125,
            -10.443115234375,
            -0.579833984375,
            -2.017822265625,
            -2.9461669921875,
            -0.54840087890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.1947989530817225,
            -8.247308671927467,
            -3.078801229059902,
            8.38537334727718,
            0.29336084173081645,
            6.197870175810749,
            -1.3216413172090213
          ],
          "torque": [
            30.13916015625,
            7.529296875,
            9.014892578125,
            -2.252197265625,
            4.127197265625,
            4.383544921875,
            -0.80841064453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.3,
            -16.9,
            -10.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.3,
            -16.9,
            -10.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.5,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.5,
            -0.8,
            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": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31558129346206754,
          -0.5062765828807885,
          -0.08427781648746031,
          -1.1848391575209225,
          0.05246956432453123,
          -0.9095472695458017,
          0.18379032071493312
        ],
        "act_joint_pos_r": [
          -0.6536522928047139,
          -0.5043543586412258,
          0.1988712597257837,
          -1.1706214159916781,
          0.2661540115595806,
          0.8376665396364877,
          -0.6093188409139398
        ],
        "act_eef_pose_l": [
          477.5918875079824,
          311.13029076978364,
          89.78123144788793,
          1.7007595048069217,
          0.013488874065626202,
          0.52863046137069
        ],
        "act_eef_pose_r": [
          464.46466440420346,
          -338.0147481268787,
          10.964143346919855,
          1.6073601561620694,
          -0.001954752570698338,
          2.4271361788453256
        ],
        "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": [
          0.32672726658337614,
          -0.4841376940440958,
          -0.08736592264858432,
          -1.2226036919198482,
          0.012807888510659376,
          -0.8474873174987106,
          0.22494536902141754
        ],
        "joint_pos_r": [
          -0.6774396427570034,
          -0.42128416791652734,
          0.2284687171457841,
          -1.2700421178276264,
          0.27089494626066624,
          0.7740098684056218,
          -0.5992599012090255
        ],
        "eef_pose_l": [
          479.1881543169846,
          316.11679218817716,
          92.0118469178159,
          1.6843819913177915,
          -0.002612413466726784,
          0.5780385357973853
        ],
        "eef_pose_r": [
          449.86241509991976,
          -352.33062269126407,
          21.36237114374697,
          1.6297001139718823,
          -0.006566872216805583,
          2.386864864309414
        ],
        "joint_status_l": {
          "velocity": [
            -1.203729594994929,
            -2.3909294776669476,
            0.33350562917866533,
            4.078449427648678,
            4.283334657695287,
            -6.70227714798699,
            -4.444614130213909
          ],
          "torque": [
            -35.04638671875,
            3.62548828125,
            -10.125732421875,
            -0.8544921875,
            -2.10205078125,
            -2.7886962890625,
            -0.5694580078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.5689580274805834,
            -8.971316003445473,
            -3.196431127663324,
            10.737119123882977,
            -0.5120058469119115,
            6.874717733971636,
            -1.0863334484376708
          ],
          "torque": [
            28.9306640625,
            8.232421875,
            9.1064453125,
            0.042724609375,
            2.3876953125,
            3.951416015625,
            -0.72784423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -17.4,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -17.4,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -16.5,
            -1.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.5,
            -1.2,
            1.0,
            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": -137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31688399279441115,
          -0.5026663748607002,
          -0.0848049715804285,
          -1.191980595553862,
          0.05666454878035022,
          -0.9033732161555676,
          0.17962067583242
        ],
        "act_joint_pos_r": [
          -0.6487901666119842,
          -0.5181358523101318,
          0.1958437955149784,
          -1.1565716770931416,
          0.26411074668271795,
          0.8309350819329169,
          -0.6224641566438489
        ],
        "act_eef_pose_l": [
          476.6958875079824,
          311.18229076978366,
          89.00203144788799,
          1.7047661235117673,
          0.015231511165521171,
          0.5308439862214298
        ],
        "act_eef_pose_r": [
          468.96226440420344,
          -336.5563481268787,
          8.583343346919946,
          1.6113338429937807,
          0.012906591002491108,
          2.422517415153822
        ],
        "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": [
          0.32488613808480044,
          -0.4876929456388005,
          -0.08687235310587332,
          -1.2166369293345936,
          0.020237661209378595,
          -0.8578459352850611,
          0.21725407591704224
        ],
        "joint_pos_r": [
          -0.6733156327924449,
          -0.4355456216174561,
          0.22347010680967988,
          -1.253080938554781,
          0.27002584541364977,
          0.78417917128336,
          -0.6014907131843775
        ],
        "eef_pose_l": [
          478.8441191799242,
          315.2042900865372,
          91.58066412541518,
          1.6874104652340742,
          0.00020058170576161492,
          0.5694390210024289
        ],
        "eef_pose_r": [
          452.5223726993081,
          -350.0816177978369,
          19.459735837648793,
          1.6260210924402316,
          -0.005451753719093567,
          2.393106884186342
        ],
        "joint_status_l": {
          "velocity": [
            -0.8642062029626807,
            -1.6170826626615842,
            0.22327061973315132,
            2.6628055130686334,
            3.933987830895963,
            -4.916801320710817,
            -4.064287339391681
          ],
          "torque": [
            -36.6943359375,
            3.31787109375,
            -10.296630859375,
            -0.152587890625,
            -2.0123291015625,
            -2.6568603515625,
            -0.677490234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.648672229078386,
            -8.919481848753907,
            -2.983553624617441,
            10.422692836963066,
            -0.6388118221931638,
            5.049489423422315,
            -2.265065089098961
          ],
          "torque": [
            29.36279296875,
            9.19189453125,
            10.186767578125,
            -0.830078125,
            2.04345703125,
            4.039306640625,
            -0.81756591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -17.2,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -17.2,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.8,
            -0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.8,
            -0.1,
            1.1,
            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": -175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.314433869870231,
          -0.5028384578901148,
          -0.0849143362197565,
          -1.1972103023465317,
          0.061792304650446016,
          -0.9035474285209619,
          0.16949751688900663
        ],
        "act_joint_pos_r": [
          -0.644915488204834,
          -0.5225567776561674,
          0.195857093356257,
          -1.1625328279855838,
          0.2649392118396676,
          0.816704606454061,
          -0.6363130604800479
        ],
        "act_eef_pose_l": [
          475.8070875079824,
          309.3454907697836,
          89.73883144788789,
          1.706141300198351,
          0.02053504426110927,
          0.5256477891852557
        ],
        "act_eef_pose_r": [
          471.09826440420346,
          -333.8971481268787,
          9.2433433469198,
          1.611997344356083,
          0.026471783446831116,
          2.41986316054785
        ],
        "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": [
          0.3233269207449602,
          -0.4901716238449551,
          -0.08654336320073672,
          -1.2131037168972054,
          0.026736104920155147,
          -0.8653477360035612,
          0.21006041839597522
        ],
        "joint_pos_r": [
          -0.6687541674564478,
          -0.4504051677611182,
          0.2185863154534918,
          -1.2363636909745142,
          0.26902814816221315,
          0.7916190794886826,
          -0.6060037511389932
        ],
        "eef_pose_l": [
          478.41865768851727,
          314.3302752015506,
          91.26031005115013,
          1.6902091054550172,
          0.0030601464734303914,
          0.5624927327084677
        ],
        "eef_pose_r": [
          455.6023987314381,
          -347.70925475919194,
          17.4824984640683,
          1.6232820486559356,
          -0.001674176896985725,
          2.3980079647675523
        ],
        "joint_status_l": {
          "velocity": [
            -0.9604211683624797,
            -1.3679777305308782,
            0.17592972517610495,
            1.7164381478362856,
            3.7859579100115726,
            -4.125445118379645,
            -4.380664161969472
          ],
          "torque": [
            -37.60986328125,
            2.5634765625,
            -10.15625,
            -0.250244140625,
            -2.2833251953125,
            -2.8125,
            -0.70770263671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.5745014283131695,
            -7.792144051660621,
            -2.4546835894787566,
            7.973498037051385,
            -0.4415920987721478,
            2.709157009944896,
            -3.273308867749236
          ],
          "torque": [
            29.93408203125,
            7.6904296875,
            9.417724609375,
            -0.811767578125,
            1.907958984375,
            3.5614013671875,
            -0.89263916015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -17.6,
            -8.4,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -17.6,
            -8.4,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.4,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.4,
            -1.2,
            1.1,
            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": -139,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3108239110104005,
          -0.5088309527636972,
          -0.08376847717609609,
          -1.1700117143504412,
          0.08322498568115606,
          -0.9525132805006222,
          0.1388267336244246
        ],
        "act_joint_pos_r": [
          -0.6382634332161353,
          -0.5355108025314718,
          0.19346105682622697,
          -1.1560661484961172,
          0.26910607045859747,
          0.816741028985582,
          -0.6510472523850632
        ],
        "act_eef_pose_l": [
          472.70548750798235,
          310.5526907697836,
          87.62523144788798,
          1.7178140174415129,
          0.041547143283358734,
          0.4982703737140711
        ],
        "act_eef_pose_r": [
          474.4622644042035,
          -329.7123481268787,
          10.467343346919733,
          1.6039958210869656,
          0.03884980139438566,
          2.423703099318535
        ],
        "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": [
          0.321347196636766,
          -0.49308743663426247,
          -0.08612603556568557,
          -1.207224462129271,
          0.0353528599881445,
          -0.8776272077683185,
          0.19942757862096153
        ],
        "joint_pos_r": [
          -0.6636764557085015,
          -0.4651570648928178,
          0.21408386404448249,
          -1.221851523970809,
          0.26861306181307526,
          0.7963643024133469,
          -0.6129987931663393
        ],
        "eef_pose_l": [
          477.645742492696,
          313.52346918389935,
          90.81477844425265,
          1.6939596977225844,
          0.008194691463470401,
          0.5527114170977125
        ],
        "eef_pose_r": [
          458.85718929668326,
          -344.8951132527784,
          15.932092525042151,
          1.6203121034240993,
          0.004478306517014545,
          2.402390984392052
        ],
        "joint_status_l": {
          "velocity": [
            -1.136481328922745,
            -1.7002495957973984,
            0.254608796790623,
            4.018858230226741,
            5.170037092751961,
            -8.087457328285197,
            -6.544698234069779
          ],
          "torque": [
            -35.6103515625,
            2.23388671875,
            -9.9853515625,
            -1.068115234375,
            -1.91162109375,
            -3.255615234375,
            -0.743408203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.7445254837230593,
            -7.597979574545555,
            -2.2271974918928183,
            7.104611011966355,
            0.053243363387300846,
            2.2006215659367,
            -4.10911240382994
          ],
          "torque": [
            30.91552734375,
            7.060546875,
            9.814453125,
            -1.654052734375,
            2.5140380859375,
            4.039306640625,
            -0.89813232421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.6,
            -17.0,
            -8.4,
            1.4,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            2.6,
            -17.0,
            -8.4,
            1.4,
            0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.5,
            -1.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.5,
            -1.3,
            1.1,
            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": -78,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31450700588190067,
          -0.5066372922947773,
          -0.08399418112175965,
          -1.1703399622120336,
          0.08259515397887282,
          -0.9506655831479441,
          0.1388271036651425
        ],
        "act_joint_pos_r": [
          -0.6331976881958528,
          -0.5516896581174426,
          0.18991258431206862,
          -1.1373076657547052,
          0.27024079349480923,
          0.830615504153277,
          -0.6509874805081262
        ],
        "act_eef_pose_l": [
          472.3422875079824,
          311.70069076978365,
          86.08283144788794,
          1.7197487478770401,
          0.044436569579292845,
          0.5020976641974855
        ],
        "act_eef_pose_r": [
          477.47506440420347,
          -326.37394812687864,
          10.215343346920008,
          1.595472229043968,
          0.03807494542574402,
          2.4316943864070324
        ],
        "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": [
          0.3198529310473071,
          -0.4956528297579978,
          -0.08573164911117995,
          -1.2006775847150857,
          0.04375440793290483,
          -0.8906839134015528,
          0.18871287656135208
        ],
        "joint_pos_r": [
          -0.6592043039739269,
          -0.47766304107631163,
          0.2104873697403818,
          -1.2099466636417,
          0.2687600486470892,
          0.800520384003338,
          -0.6192503090849615
        ],
        "eef_pose_l": [
          476.77422929085617,
          313.05541652035106,
          90.1536852680284,
          1.69802541133414,
          0.014048697950053837,
          0.5432858097924638
        ],
        "eef_pose_r": [
          461.6306576352778,
          -342.3336158471519,
          14.930261928938336,
          1.617017096415628,
          0.009879309777047278,
          2.406322282912354
        ],
        "joint_status_l": {
          "velocity": [
            -0.5773428900459621,
            -1.186286966307737,
            0.18764100868173816,
            3.276366599063607,
            4.194676857583735,
            -6.477829279247338,
            -5.387504576836788
          ],
          "torque": [
            -35.57373046875,
            1.35498046875,
            -10.3515625,
            0.52490234375,
            -1.9171142578125,
            -2.889404296875,
            -0.7781982421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.8086316678690437,
            -7.994638851172908,
            -2.222011291537873,
            7.844780402367135,
            0.15991572709150859,
            3.2501771173434335,
            -3.4275134245964622
          ],
          "torque": [
            30.93017578125,
            4.50439453125,
            9.19189453125,
            1.287841796875,
            3.33251953125,
            4.95849609375,
            -0.69488525390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.9,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.9,
            -0.9,
            1.1,
            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": 1,
          "position": 20,
          "motor_current": -116,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31709564036904314,
          -0.501005997543133,
          -0.08484358654204188,
          -1.1842215605079773,
          0.07443210080306373,
          -0.9313236857170314,
          0.14746102743920883
        ],
        "act_joint_pos_r": [
          -0.626478596257424,
          -0.5702716361233604,
          0.1857373063252676,
          -1.111294043655241,
          0.26067571992188165,
          0.8405903567513113,
          -0.6460585810208457
        ],
        "act_eef_pose_l": [
          472.60068750798234,
          311.76789076978366,
          86.76523144788808,
          1.7156995856811255,
          0.03978287804056885,
          0.5133905618826006
        ],
        "act_eef_pose_r": [
          481.73026440420347,
          -324.07634812687866,
          7.837743346919979,
          1.5971648465637787,
          0.04137747685496076,
          2.4372849304763036
        ],
        "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": [
          0.31923156493610433,
          -0.4968985062963836,
          -0.08553050375912363,
          -1.1970709570506084,
          0.04932770570214483,
          -0.8986207744214537,
          0.18137066312800756
        ],
        "joint_pos_r": [
          -0.6545384926371933,
          -0.49091246643212066,
          0.20686234646319446,
          -1.1964935051612497,
          0.2684476518233208,
          0.8060475179439932,
          -0.6241813347641655
        ],
        "eef_pose_l": [
          476.08784397382055,
          312.8127722674608,
          89.57737348468831,
          1.7010437540454073,
          0.01842685223414624,
          0.5375392004205478
        ],
        "eef_pose_r": [
          464.52439177056965,
          -339.7186680783759,
          13.919868453142158,
          1.6134340948780523,
          0.014487427942148487,
          2.4107572963158974
        ],
        "joint_status_l": {
          "velocity": [
            -0.2306730499044285,
            -0.44359597148480034,
            0.07418487147903274,
            1.387693898760034,
            2.711194708485576,
            -3.5318102547465813,
            -3.6621326455612557
          ],
          "torque": [
            -38.02734375,
            2.74658203125,
            -10.4736328125,
            -0.74462890625,
            -2.02880859375,
            -2.5836181640625,
            -0.61431884765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.030379432751751,
            -8.570537552160307,
            -2.281437047507273,
            9.201270465682754,
            -0.8393438902307704,
            3.730516565485509,
            -2.3626729124082146
          ],
          "torque": [
            32.1240234375,
            2.35107421875,
            8.6181640625,
            3.759765625,
            2.14599609375,
            4.599609375,
            -0.68756103515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -17.2,
            -10.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -17.2,
            -10.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.2,
            1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.2,
            1.0,
            1.0,
            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": -66,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31663234499348375,
          -0.5028051072867037,
          -0.08454824936033538,
          -1.1785353219750818,
          0.07423374813323573,
          -0.9353545444313702,
          0.14870541112389485
        ],
        "act_joint_pos_r": [
          -0.6183241859777717,
          -0.5881270707316619,
          0.18233029363814046,
          -1.0929530530639737,
          0.2483318467457689,
          0.8372926673313553,
          -0.6416606131784216
        ],
        "act_eef_pose_l": [
          473.18708750798237,
          312.3606907697837,
          86.65803144788794,
          1.7156187847198072,
          0.03880297553965175,
          0.5130971515824386
        ],
        "act_eef_pose_r": [
          486.6590644042035,
          -320.75074812687865,
          5.543343346919983,
          1.6038721858370126,
          0.04735698142589203,
          2.439459405040136
        ],
        "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": [
          0.31894205022225,
          -0.4974951326078067,
          -0.08543096995153328,
          -1.1952019893073833,
          0.05248269563031308,
          -0.9029190336879022,
          0.177151949575917
        ],
        "joint_pos_r": [
          -0.649451725504852,
          -0.5049963192934716,
          0.2031915076095225,
          -1.181421320008942,
          0.2664526826454234,
          0.8115345715230782,
          -0.6275222870534317
        ],
        "eef_pose_l": [
          475.68057308552784,
          312.6960527443315,
          89.22849166572621,
          1.7028263327902442,
          0.021011693825252302,
          0.5344383611646729
        ],
        "eef_pose_r": [
          467.97275232267316,
          -336.89069755855144,
          12.563007681183194,
          1.6108385189676562,
          0.019453766063135525,
          2.415473384067354
        ],
        "joint_status_l": {
          "velocity": [
            -0.24944080784372602,
            -0.5734603520117787,
            0.09533101221148588,
            1.7999469852902905,
            2.349044388954724,
            -3.5029318468415838,
            -3.0721355450238352
          ],
          "torque": [
            -37.5,
            3.6181640625,
            -10.321044921875,
            0.103759765625,
            -2.0599365234375,
            -2.4554443359375,
            -0.699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.3616751216172247,
            -8.977856367605064,
            -2.252944661858436,
            9.554291041304452,
            -1.9569925587525905,
            2.781792302714692,
            -1.5268941881618758
          ],
          "torque": [
            33.12744140625,
            3.43505859375,
            8.8134765625,
            1.84326171875,
            1.2908935546875,
            3.9752197265625,
            -0.867919921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.8,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.8,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.1,
            -1.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.1,
            -1.0,
            1.0,
            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": -101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3149775006621098,
          -0.5047742994936903,
          -0.0843090287685994,
          -1.1762042529012589,
          0.07513052487266836,
          -0.9405336826321787,
          0.14710830727189647
        ],
        "act_joint_pos_r": [
          -0.6126556098142736,
          -0.6012198054002368,
          0.1797755575027881,
          -1.0714811034783018,
          0.24910056906824266,
          0.8416176324536011,
          -0.6455946329172166
        ],
        "act_eef_pose_l": [
          473.06628750798234,
          311.6462907697836,
          87.20603144788794,
          1.7147608823855593,
          0.039406535054855,
          0.5084022836401257
        ],
        "act_eef_pose_r": [
          491.17186440420346,
          -320.8115481268787,
          4.828943346919914,
          1.6025210236234655,
          0.05379270127177798,
          2.4351884824377668
        ],
        "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": [
          0.31843751227146555,
          -0.49854841010813244,
          -0.08526099647278294,
          -1.1921197244833799,
          0.05638057607732787,
          -0.9089548632807115,
          0.17202955506615109
        ],
        "joint_pos_r": [
          -0.6431587521011266,
          -0.5216551227883965,
          0.19906376371225665,
          -1.163149372126243,
          0.26308259898037556,
          0.8167156442645759,
          -0.6304786046288925
        ],
        "eef_pose_l": [
          475.24100299393626,
          312.5831660391149,
          88.81731372214514,
          1.704967678038545,
          0.024118308715347134,
          0.5303478541094322
        ],
        "eef_pose_r": [
          471.65117115380605,
          -334.2217379634239,
          11.149184515732856,
          1.609297583373947,
          0.024659939969012414,
          2.4192569367434613
        ],
        "joint_status_l": {
          "velocity": [
            -0.3736702329959485,
            -0.6723762229632335,
            0.10280947984830924,
            1.71882023697556,
            2.0249347476387625,
            -3.410411905235833,
            -2.6914153827259923
          ],
          "torque": [
            -37.34619140625,
            2.7685546875,
            -10.198974609375,
            0.372314453125,
            -2.021484375,
            -2.6495361328125,
            -0.582275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.2942422084998313,
            -8.592732292986405,
            -2.0830648339094093,
            9.899881032595204,
            -1.5100146950075555,
            2.689335406706128,
            -1.6324829076292957
          ],
          "torque": [
            31.53076171875,
            7.99072265625,
            9.87548828125,
            -0.79345703125,
            1.571044921875,
            4.0850830078125,
            -0.75714111328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.8,
            -8.0,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.8,
            -8.0,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.4,
            -2.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.4,
            -2.9,
            1.1,
            0.3,
            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": -76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31252850127145654,
          -0.5064555817065216,
          -0.08404756856489902,
          -1.1714180997182806,
          0.08001088220310984,
          -0.9504512168753829,
          0.13590563706006492
        ],
        "act_joint_pos_r": [
          -0.6101525838648163,
          -0.6085949280772868,
          0.17845543371589065,
          -1.055281702620866,
          0.25000958338553403,
          0.8493265181634644,
          -0.6496409598546176
        ],
        "act_eef_pose_l": [
          472.5238875079824,
          311.43829076978363,
          87.51403144788793,
          1.7165506516195455,
          0.0470346267879946,
          0.5023237628447084
        ],
        "act_eef_pose_r": [
          493.5286644042035,
          -321.70114812687865,
          4.349743346919922,
          1.6005387440059275,
          0.05921445301888783,
          2.4332560903747864
        ],
        "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": [
          0.3177182253202172,
          -0.4997230194719892,
          -0.08508120068966495,
          -1.1890955904717866,
          0.05991000569551914,
          -0.9149737115574009,
          0.16713139515885253
        ],
        "joint_pos_r": [
          -0.6379987274658533,
          -0.5351637523400056,
          0.19581616045579536,
          -1.1471381925677533,
          0.2608368410973414,
          0.8212573766807806,
          -0.6331987403724004
        ],
        "eef_pose_l": [
          474.84059540576,
          312.39684872293697,
          88.55651761623042,
          1.7067101159948093,
          0.02709189617039777,
          0.5261635870667948
        ],
        "eef_pose_r": [
          475.0404276926718,
          -332.2193111057514,
          9.97783359836481,
          1.6078966866347268,
          0.029610568434410206,
          2.4216453790700947
        ],
        "joint_status_l": {
          "velocity": [
            -0.5604736669790888,
            -0.7270952768005934,
            0.11162897715399911,
            1.9091126951096271,
            2.170830637592547,
            -3.8314575715414634,
            -3.372282414515926
          ],
          "torque": [
            -37.75634765625,
            3.5595703125,
            -10.406494140625,
            0.189208984375,
            -2.017822265625,
            -2.4993896484375,
            -0.655517578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.0072948134929334,
            -7.930333086954455,
            -1.8749031905960223,
            9.920208333358715,
            -1.1693093459397286,
            3.0313778744179842,
            -1.7757073323911854
          ],
          "torque": [
            31.79443359375,
            5.7568359375,
            9.515380859375,
            1.42822265625,
            1.64794921875,
            4.3707275390625,
            -0.72967529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.4,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.4,
            -0.8,
            1.0,
            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": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3107883669983783,
          -0.501621341156103,
          -0.0844078830836292,
          -1.1666046766202334,
          0.10318037728011306,
          -0.9656058950217521,
          0.11369271941820373
        ],
        "act_joint_pos_r": [
          -0.6094701452633782,
          -0.6197183153343974,
          0.17644725822602167,
          -1.0377869721090736,
          0.26879508846268907,
          0.8479310578125834,
          -0.6815578638442613
        ],
        "act_eef_pose_l": [
          469.81188750798236,
          314.08549076978363,
          85.09723144788796,
          1.7339185875769196,
          0.05568644172198797,
          0.49587583904661536
        ],
        "act_eef_pose_r": [
          498.1782644042035,
          -322.9883481268787,
          3.609743346919686,
          1.5932683504601388,
          0.07844809419090851,
          2.4184120985055886
        ],
        "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": [
          0.316675171754679,
          -0.5005648358790522,
          -0.08492442514710151,
          -1.18562300527033,
          0.06513457075768796,
          -0.922339111549402,
          0.16000882841033523
        ],
        "joint_pos_r": [
          -0.6330260901586414,
          -0.5489490172160857,
          0.19260184505261396,
          -1.1296357922488571,
          0.26027695867258477,
          0.8261196217404532,
          -0.6384071275920108
        ],
        "eef_pose_l": [
          474.2470814398886,
          312.39601911615347,
          88.21969611027728,
          1.7095676241636972,
          0.031111712299414326,
          0.5213832637937031
        ],
        "eef_pose_r": [
          478.6911989059263,
          -330.59380702778765,
          8.82715955049153,
          1.6059356699677911,
          0.036072965323110565,
          2.4225576174257246
        ],
        "joint_status_l": {
          "velocity": [
            -0.6357561630547792,
            -0.11409920474481083,
            0.05578489756752347,
            2.0539189171113748,
            4.1088259210790845,
            -4.6726748018368625,
            -5.001992245274867
          ],
          "torque": [
            -36.3134765625,
            3.3251953125,
            -10.296630859375,
            0.03662109375,
            -1.8328857421875,
            -2.607421875,
            -1.04278564453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.5439670183926566,
            -7.642858782706874,
            -1.7446439217501108,
            9.919380018622803,
            0.9199308854199728,
            2.35556562209549,
            -4.660142071698736
          ],
          "torque": [
            32.255859375,
            6.3134765625,
            9.857177734375,
            -0.506591796875,
            3.62548828125,
            3.80859375,
            -1.44927978515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.1,
            -15.9,
            -6.8,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -15.9,
            -6.8,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.8,
            -2.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.8,
            -2.1,
            1.1,
            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": -95,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3169066186787874,
          -0.4888943829304159,
          -0.08606376297077244,
          -1.1842620175527239,
          0.1045002838050524,
          -0.9383279903983702,
          0.11429676528378074
        ],
        "act_joint_pos_r": [
          -0.6042008892775481,
          -0.6406907297834736,
          0.17283862534401204,
          -1.0117552810826484,
          0.2757021302654761,
          0.86253512167676,
          -0.6903139705866764
        ],
        "act_eef_pose_l": [
          469.39508750798234,
          317.21109076978365,
          83.1228314478879,
          1.7405890596837943,
          0.053795397629460937,
          0.5175563247200603
        ],
        "act_eef_pose_r": [
          502.75426440420347,
          -319.43794812687867,
          3.4841433469198364,
          1.5819039895092735,
          0.08322913415200692,
          2.42190772842295
        ],
        "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": [
          0.3159760415696844,
          -0.5001797199734235,
          -0.08491221248468245,
          -1.1832717586782506,
          0.07144707683342473,
          -0.9282542825312636,
          0.15242119783747188
        ],
        "joint_pos_r": [
          -0.6281205885670686,
          -0.5641282724395142,
          0.18923809861236007,
          -1.1100372054422052,
          0.26248041826213064,
          0.8314970744682959,
          -0.6473162424772477
        ],
        "eef_pose_l": [
          473.5093268829329,
          312.7878075505848,
          87.64076377589527,
          1.71373132846967,
          0.034938990629243355,
          0.5180054165077762
        ],
        "eef_pose_r": [
          482.82582117305435,
          -329.0043899344543,
          7.712638855340657,
          1.6024653847555685,
          0.04428323071506988,
          2.422077202172304
        ],
        "joint_status_l": {
          "velocity": [
            0.10049936371281376,
            1.2187804546366365,
            -0.12436378458391406,
            -0.10694480427453357,
            3.569641071999974,
            -1.0879283629154912,
            -4.117317282016586
          ],
          "torque": [
            -36.45263671875,
            4.65087890625,
            -14.09912109375,
            0.079345703125,
            -1.9134521484375,
            -2.4151611328125,
            -0.673828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.5832513343431174,
            -8.268501526730532,
            -1.7710908774484224,
            10.614134783661022,
            1.4279027826196167,
            3.3520102362558646,
            -4.643617679636058
          ],
          "torque": [
            33.20068359375,
            4.25537109375,
            10.05859375,
            -1.9287109375,
            4.3157958984375,
            4.068603515625,
            -0.677490234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -16.3,
            -7.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.3,
            -7.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.1,
            -2.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.1,
            -2.5,
            1.0,
            0.3,
            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": [
          0.3197003336908831,
          -0.47969769060343787,
          -0.08733144838341907,
          -1.1976693882123195,
          0.11286941393451337,
          -0.920671415366917,
          0.11131468375429408
        ],
        "act_joint_pos_r": [
          -0.5993522144977423,
          -0.6572665268918392,
          0.17020090261256235,
          -0.9896236423688131,
          0.2760027542833945,
          0.87637833977417,
          -0.689722602500669
        ],
        "act_eef_pose_l": [
          468.52948750798237,
          319.1438907697837,
          81.45883144788792,
          1.7498824221285034,
          0.05030947543309958,
          0.5296622400197945
        ],
        "act_eef_pose_r": [
          506.0822644042035,
          -316.5683481268787,
          3.315343346919917,
          1.5748501877265604,
          0.0838909614154433,
          2.4274428046186887
        ],
        "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": [
          0.3163805160381488,
          -0.4973945116926671,
          -0.08522469254166798,
          -1.1845983483117197,
          0.07800995162991867,
          -0.9285189486668756,
          0.14542435901815892
        ],
        "joint_pos_r": [
          -0.6238387036280695,
          -0.577909927318696,
          0.18635191726790737,
          -1.0922843855840267,
          0.2646756815709342,
          0.8375977049079656,
          -0.6543422297775734
        ],
        "eef_pose_l": [
          472.7109995488797,
          313.72345692798837,
          86.69611350592766,
          1.7192587631723826,
          0.03798690382140717,
          0.5188404741395299
        ],
        "eef_pose_r": [
          486.4024625552339,
          -327.36845456265974,
          6.892208109286372,
          1.5984915238077981,
          0.05051949414651506,
          2.422466809493402
        ],
        "joint_status_l": {
          "velocity": [
            0.35852973222594287,
            1.9112003097969676,
            -0.2275229204792284,
            -1.411630675443476,
            3.764710894683554,
            0.8475086004660071,
            -3.6837362825032915
          ],
          "torque": [
            -24.43359375,
            11.9384765625,
            -17.608642578125,
            -4.144287109375,
            -2.266845703125,
            -0.853271484375,
            -0.604248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.644462831812966,
            -8.570259987592088,
            -1.7442581386333256,
            11.087033272676017,
            1.2232877740012693,
            4.18818504163454,
            -3.8209675606797333
          ],
          "torque": [
            32.4755859375,
            6.68701171875,
            9.58251953125,
            -1.324462890625,
            4.2901611328125,
            4.2041015625,
            -0.6939697265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.6,
            -16.7,
            -6.2,
            1.4,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            2.6,
            -16.7,
            -6.2,
            1.4,
            0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.0,
            -2.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.0,
            -2.5,
            1.1,
            0.3,
            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": -20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32184765929052844,
          -0.4588536070366507,
          -0.09080010065150979,
          -1.2445874620490176,
          0.14449108073381423,
          -0.8554516605512043,
          0.11096667832421353
        ],
        "act_joint_pos_r": [
          -0.5938169930993694,
          -0.6694160104294494,
          0.16859329640030424,
          -0.9781161443159229,
          0.2785719038256089,
          0.8826640760037195,
          -0.6932472107985991
        ],
        "act_eef_pose_l": [
          467.8246875079824,
          320.91669076978366,
          78.48123144788798,
          1.7768112824027977,
          0.0199310232248942,
          0.5614028630419949
        ],
        "act_eef_pose_r": [
          508.9470644042035,
          -313.3603481268787,
          4.731343346919857,
          1.566926560763592,
          0.08751844315384813,
          2.431168296056253
        ],
        "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": [
          0.3170205608469701,
          -0.49357003911466646,
          -0.08572333091718966,
          -1.188807190405833,
          0.08512909194373595,
          -0.9243652578229491,
          0.1398016076647844
        ],
        "joint_pos_r": [
          -0.6191101873508967,
          -0.5928168402799008,
          0.18338037087663495,
          -1.0733033923853017,
          0.2668636434272842,
          0.844907659753543,
          -0.6608519075384823
        ],
        "eef_pose_l": [
          471.99723359026865,
          314.6727712964482,
          85.66924218668981,
          1.7255969478580397,
          0.038865189907765774,
          0.5219350364323824
        ],
        "eef_pose_r": [
          490.1561872097617,
          -325.37687568924457,
          6.238605648840405,
          1.593653838572037,
          0.056450340597004385,
          2.4236369320555537
        ],
        "joint_status_l": {
          "velocity": [
            0.5213112566506695,
            3.7492640857927917,
            -0.5482749608010096,
            -6.024091666377629,
            6.410905709771542,
            7.442449002049045,
            -3.1140805238860647
          ],
          "torque": [
            -19.423828125,
            7.46337890625,
            -18.27392578125,
            -5.120849609375,
            -1.89697265625,
            -0.1812744140625,
            -0.6463623046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.7315844153896762,
            -8.272466392796218,
            -1.596956943716421,
            10.27991960147201,
            1.2644548299172165,
            4.0775726934407786,
            -3.4985895667087874
          ],
          "torque": [
            33.42041015625,
            7.3974609375,
            9.136962890625,
            -1.0009765625,
            4.5648193359375,
            4.25537109375,
            -0.80108642578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.2,
            -17.1,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.2,
            -17.1,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.8,
            -1.0,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.8,
            -1.0,
            1.2,
            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": -40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32737587516553546,
          -0.4536384214438808,
          -0.09170778895971267,
          -1.2549291418920743,
          0.1335762211819677,
          -0.8381469962428718,
          0.12854402014811317
        ],
        "act_joint_pos_r": [
          -0.5912538714027825,
          -0.6743251474887314,
          0.16806600916507394,
          -0.9712325868682521,
          0.27650208502644347,
          0.8868079977717347,
          -0.691910252642558
        ],
        "act_eef_pose_l": [
          467.9734875079823,
          321.7030907697836,
          78.180431447888,
          1.772299517606599,
          0.010390024538772772,
          0.5721505580602035
        ],
        "act_eef_pose_r": [
          510.08466440420347,
          -312.4835481268787,
          5.061743346919911,
          1.5653862302684292,
          0.08897155386106839,
          2.4334740840215336
        ],
        "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": [
          0.31825430487427403,
          -0.4867042928844518,
          -0.08673577421148114,
          -1.1999526828211398,
          0.09571644876760424,
          -0.9103324623606235,
          0.13537215240552614
        ],
        "joint_pos_r": [
          -0.6147672986193725,
          -0.6057633439839348,
          0.18091142646333067,
          -1.0571587361978172,
          0.2686391892785553,
          0.8514134225063535,
          -0.666081147292199
        ],
        "eef_pose_l": [
          471.23338980349786,
          315.858887594847,
          84.19057985077205,
          1.7354059664311814,
          0.03524812668536219,
          0.5300339216458138
        ],
        "eef_pose_r": [
          493.38416971749126,
          -323.4582178398326,
          5.9101508366879045,
          1.5890781942229855,
          0.06147478313167766,
          2.4250631359813823
        ],
        "joint_status_l": {
          "velocity": [
            0.9851005374685862,
            3.571008794307051,
            -0.5369617559685125,
            -5.937282468874372,
            4.088734829963414,
            7.795800415874687,
            -0.7374165348625894
          ],
          "torque": [
            -19.8486328125,
            11.337890625,
            -17.9931640625,
            -6.268310546875,
            -2.49755859375,
            1.1224365234375,
            -0.5804443359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.539375244523079,
            -7.4044563957498255,
            -1.3872641530425778,
            9.279750435983836,
            0.8491676959094807,
            3.8225013900081706,
            -2.7894611070804487
          ],
          "torque": [
            32.51953125,
            6.1083984375,
            8.69140625,
            0.311279296875,
            4.5135498046875,
            4.229736328125,
            -0.78277587890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.0,
            -17.9,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.0,
            -17.9,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            -1.1,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            -1.1,
            1.0,
            0.3,
            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": -3,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3304363627019148,
          -0.44275637226196607,
          -0.09353755150778299,
          -1.270627131066293,
          0.1366644820365489,
          -0.8084660289056689,
          0.14181379030219765
        ],
        "act_joint_pos_r": [
          -0.585202801311037,
          -0.6866886291868383,
          0.16610822887191662,
          -0.9498478186381748,
          0.2703864923816406,
          0.9001792027246808,
          -0.6889170667588088
        ],
        "act_eef_pose_l": [
          468.5782875079824,
          325.07189076978364,
          77.51083144788805,
          1.7781154977030886,
          -0.00933954954705152,
          0.5928685125673406
        ],
        "act_eef_pose_r": [
          512.8814644042035,
          -311.2387481268787,
          5.256143346919771,
          1.5630072792120304,
          0.09395235377428857,
          2.4388727908088987
        ],
        "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": [
          0.31977329074452654,
          -0.4812072597396076,
          -0.0875708407011319,
          -1.2089870881892086,
          0.10159897195263481,
          -0.8980718659745673,
          0.13491830907844132
        ],
        "joint_pos_r": [
          -0.6098860962854425,
          -0.6196154957022189,
          0.17834200691553476,
          -1.0393736287319455,
          0.26968462320065495,
          0.85906839688638,
          -0.6707479919865006
        ],
        "eef_pose_l": [
          470.7640692153151,
          316.9874269723041,
          83.08034505914424,
          1.7420870011612868,
          0.03039298817626382,
          0.538272935511288
        ],
        "eef_pose_r": [
          496.80315928116414,
          -321.41108241197014,
          5.660853191554963,
          1.5843405836056057,
          0.06685738230072107,
          2.427043572167266
        ],
        "joint_status_l": {
          "velocity": [
            1.1515778074260297,
            4.1525733739806725,
            -0.6443857619761184,
            -6.656928295118547,
            3.7869633985475604,
            9.677144991306896,
            0.7446900087078046
          ],
          "torque": [
            -19.78271484375,
            9.79248046875,
            -17.95654296875,
            -4.620361328125,
            -2.0306396484375,
            0.5657958984375,
            -0.59783935546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.6657172361090886,
            -7.243684775276371,
            -1.3212090617324979,
            9.668502332893958,
            0.07579963595572003,
            4.4398360845701035,
            -1.9622022033489728
          ],
          "torque": [
            34.013671875,
            7.05322265625,
            9.41162109375,
            -1.123046875,
            4.222412109375,
            4.1802978515625,
            -0.76446533203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.0,
            -16.5,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            2.0,
            -16.5,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -16.9,
            -0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.9,
            -0.5,
            1.1,
            0.3,
            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": -32,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3188822918158468,
          -0.4349659605837718,
          -0.09501288162753788,
          -1.2859344775783164,
          0.2001802918908192,
          -0.7939652012622308,
          0.10362531723830246
        ],
        "act_joint_pos_r": [
          -0.5820295548560273,
          -0.6962469709333291,
          0.16480433183357945,
          -0.9366152131370465,
          0.2701106402595821,
          0.9083706326099961,
          -0.6885498493585366
        ],
        "act_eef_pose_l": [
          467.2214875079824,
          326.4270907697836,
          75.37003144788792,
          1.8160283275022302,
          -0.02739405427823323,
          0.592991625399176
        ],
        "act_eef_pose_r": [
          514.8366644042035,
          -309.60834812687864,
          5.431343346919903,
          1.5590134971003753,
          0.09519859709754083,
          2.4420236403183115
        ],
        "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": [
          0.3212817040452894,
          -0.4735965639687862,
          -0.08876354735873845,
          -1.2213114389748627,
          0.11101643169348316,
          -0.8804963548315528,
          0.1345450757486938
        ],
        "joint_pos_r": [
          -0.6052930856039187,
          -0.6321637627382006,
          0.17608495885185274,
          -1.0225906188708391,
          0.2697888301521175,
          0.8669277493943004,
          -0.6739339601367298
        ],
        "eef_pose_l": [
          470.3442413349956,
          318.42372716320244,
          81.8773787642159,
          1.7505871790119718,
          0.02312517075206734,
          0.5480671419303619
        ],
        "eef_pose_r": [
          499.8461085552849,
          -319.5989524359937,
          5.510682155744405,
          1.580184501629463,
          0.07158929009840778,
          2.429343673385357
        ],
        "joint_status_l": {
          "velocity": [
            -0.2591288781821355,
            4.171982119546502,
            -0.6749081956770597,
            -6.9790823321422835,
            9.629412896960066,
            9.34508896682118,
            -3.3392354336376773
          ],
          "torque": [
            -23.35693359375,
            10.75927734375,
            -18.84765625,
            -4.1015625,
            -1.929931640625,
            0.3240966796875,
            0.4541015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.512387221872636,
            -6.920782367508593,
            -1.2182717869677617,
            9.285069970749404,
            0.03475446657774661,
            4.475699383597487,
            -1.578469481485989
          ],
          "torque": [
            32.76123046875,
            5.04638671875,
            9.06982421875,
            -0.872802734375,
            3.402099609375,
            4.2022705078125,
            -0.8349609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -16.7,
            -7.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.7,
            -7.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -18.2,
            -3.1,
            1.3,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -18.2,
            -3.1,
            1.3,
            0.3,
            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": 36,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3190084514900569,
          -0.4326329036703656,
          -0.0955138371494305,
          -1.2897758200724945,
          0.20930630489198335,
          -0.788255051796559,
          0.1003292821295551
        ],
        "act_joint_pos_r": [
          -0.5794784297813451,
          -0.709712309161638,
          0.1627477350386108,
          -0.9129284122265662,
          0.270115640298898,
          0.9258569948103783,
          -0.686483217910501
        ],
        "act_eef_pose_l": [
          466.99988750798235,
          327.11189076978366,
          74.44843144788803,
          1.822381428390811,
          -0.03185410431207889,
          0.5956552291607744
        ],
        "act_eef_pose_r": [
          517.0654644042035,
          -308.3891481268787,
          4.8177433469197695,
          1.5533274969991973,
          0.09478096476574241,
          2.4468491466470983
        ],
        "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": [
          0.3208630070632118,
          -0.4666639113800996,
          -0.08989047756661354,
          -1.2329059966732556,
          0.12718204611627884,
          -0.8649462048279611,
          0.12893348403474023
        ],
        "joint_pos_r": [
          -0.6016497841164864,
          -0.6424824992419136,
          0.17428231644346648,
          -1.0084999622804054,
          0.2698378988811048,
          0.8739863462432904,
          -0.6760618410604543
        ],
        "eef_pose_l": [
          469.7668808757376,
          319.77970555108567,
          80.50089881827199,
          1.7632446299437476,
          0.014826684386018165,
          0.5561899643475101
        ],
        "eef_pose_r": [
          502.272013012566,
          -318.11196290699945,
          5.399380721017707,
          1.5766399445900112,
          0.07503082752746972,
          2.431457751366554
        ],
        "joint_status_l": {
          "velocity": [
            -0.20028609477851234,
            3.6752404372286662,
            -0.6073049234429639,
            -6.141759785595724,
            8.869158365932606,
            8.282400251053978,
            -3.089162695776526
          ],
          "torque": [
            -29.90478515625,
            10.986328125,
            -19.183349609375,
            -4.534912109375,
            -1.937255859375,
            0.2691650390625,
            -0.66375732421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3944356480907203,
            -7.260605331222081,
            -1.2456980518242844,
            10.321422991715679,
            0.029995188460807398,
            5.601864827074365,
            -1.1254755056793186
          ],
          "torque": [
            34.599609375,
            6.30615234375,
            8.88671875,
            -0.921630859375,
            3.55224609375,
            4.1162109375,
            -0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -17.2,
            -7.5,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -17.2,
            -7.5,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.6,
            -1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.6,
            -1.1,
            1.1,
            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": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3166649261976556,
          -0.4274886513149785,
          -0.09651312041900025,
          -1.2977528344474973,
          0.22377785828748847,
          -0.7779067849147114,
          0.09310881940727829
        ],
        "act_joint_pos_r": [
          -0.5783552981072244,
          -0.7192870097878393,
          0.1614777046406959,
          -0.8997951982561648,
          0.27167126367588024,
          0.9373447666974405,
          -0.6861054392694264
        ],
        "act_eef_pose_l": [
          466.77188750798234,
          328.4174907697837,
          74.43003144788787,
          1.8307262226754382,
          -0.03975207795856095,
          0.6012517697047941
        ],
        "act_eef_pose_r": [
          518.2094644042035,
          -306.4267481268787,
          4.616143346919898,
          1.5475697017508236,
          0.09346631355503753,
          2.451912809326281
        ],
        "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": [
          0.32039892429524036,
          -0.46034801171931916,
          -0.09094280295253136,
          -1.243424602146082,
          0.1425432443449567,
          -0.8507852286646539,
          0.12345644112477241
        ],
        "joint_pos_r": [
          -0.5979396519236223,
          -0.6540911502511078,
          0.17231228386049996,
          -0.9920252769239319,
          0.2699739552152227,
          0.8831811909164853,
          -0.6777531141768933
        ],
        "eef_pose_l": [
          469.24742115216867,
          321.0749945248611,
          79.26579580261338,
          1.774898226569885,
          0.006822623269105766,
          0.5635434671317594
        ],
        "eef_pose_r": [
          504.83798343607685,
          -316.491523742999,
          5.213837353238063,
          1.5723786966514701,
          0.07804872056193168,
          2.4342456386764093
        ],
        "joint_status_l": {
          "velocity": [
            -0.40325990102418885,
            3.5487062601724517,
            -0.601576543826865,
            -5.867276042494041,
            8.773079557642838,
            7.870639792881384,
            -3.2774464823724925
          ],
          "torque": [
            -31.083984375,
            11.63818359375,
            -18.81103515625,
            -5.255126953125,
            -1.395263671875,
            0.9210205078125,
            -0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.1150478321692034,
            -7.040945168389712,
            -1.1701000454829025,
            9.960554725260806,
            0.18330390749121683,
            5.849493662749339,
            -0.9020245062023591
          ],
          "torque": [
            35.77880859375,
            3.81591796875,
            8.43505859375,
            1.715087890625,
            4.5465087890625,
            4.925537109375,
            -0.67840576171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.1,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.1,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.6,
            -1.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.6,
            -1.8,
            1.1,
            0.3,
            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": 24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3127656112361458,
          -0.42715557781701663,
          -0.09665560336506,
          -1.2989440169276423,
          0.2369915985481603,
          -0.7782075767316721,
          0.08458675424928665
        ],
        "act_joint_pos_r": [
          -0.5784514078707237,
          -0.7208095345371602,
          0.16149351515333657,
          -0.8997716130176596,
          0.2706370473603559,
          0.938693940242213,
          -0.6851740023936607
        ],
        "act_eef_pose_l": [
          466.69908750798237,
          328.47829076978365,
          74.56763144788789,
          1.8375008869044838,
          -0.04355525832876962,
          0.5992156896173925
        ],
        "act_eef_pose_r": [
          518.0478644042034,
          -305.3923481268787,
          4.515343346919963,
          1.546918507681521,
          0.09258974323803894,
          2.454692454589466
        ],
        "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": [
          0.31955848406723875,
          -0.45492673128509903,
          -0.09186681681921037,
          -1.252425129524794,
          0.15666568363310818,
          -0.8388218313421033,
          0.11797221827012053
        ],
        "joint_pos_r": [
          -0.5947256604091666,
          -0.664897519092222,
          0.17053204831131558,
          -0.9768617115897816,
          0.2701928867224701,
          0.8921638303579738,
          -0.6790720718726936
        ],
        "eef_pose_l": [
          468.8152621332574,
          322.21902111627696,
          78.34008344373905,
          1.785083815368718,
          -0.00046925510403852293,
          0.5696382204500569
        ],
        "eef_pose_r": [
          507.087285379383,
          -314.85321056776803,
          5.045104099592635,
          1.5681839719426873,
          0.08039482819829767,
          2.437278248114713
        ],
        "joint_status_l": {
          "velocity": [
            -0.7336086291283017,
            2.9991961179915982,
            -0.5171736937289451,
            -5.023891667743641,
            8.674942957059617,
            6.546146429657895,
            -3.605523775010666
          ],
          "torque": [
            -31.5673828125,
            11.16943359375,
            -17.706298828125,
            -5.120849609375,
            -1.0711669921875,
            0.2947998046875,
            -0.55206298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7575674374707972,
            -6.03831957733636,
            -0.976132791564055,
            8.325485098732877,
            0.0479679341529593,
            5.025103659987096,
            -0.6589890604207227
          ],
          "torque": [
            34.41650390625,
            6.40869140625,
            8.55712890625,
            -1.26953125,
            3.50830078125,
            4.2205810546875,
            -0.6976318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.5,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.5,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            -1.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            -1.7,
            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": 47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3135623518614689,
          -0.4216965521177143,
          -0.09764615446132671,
          -1.3045984678034386,
          0.23091494240094493,
          -0.7715922696635451,
          0.09134230133420403
        ],
        "act_joint_pos_r": [
          -0.5794295004216511,
          -0.7200248854624112,
          0.16188472062879303,
          -0.9050680955930142,
          0.27014526290751784,
          0.9399197316565966,
          -0.6840848946849004
        ],
        "act_eef_pose_l": [
          466.3558875079824,
          329.78069076978363,
          75.85323144788782,
          1.8334086698228322,
          -0.04799978164462634,
          0.6051299805821243
        ],
        "act_eef_pose_r": [
          516.9022644042035,
          -303.88034812687863,
          4.830543346919967,
          1.5449958918164395,
          0.09039492557444846,
          2.459702699630284
        ],
        "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": [
          0.31844735350473286,
          -0.44940054600780877,
          -0.09282529112211436,
          -1.261288124102331,
          0.17018227365288377,
          -0.82735823161718,
          0.11283170256624418
        ],
        "joint_pos_r": [
          -0.5919455219169242,
          -0.6747051881950034,
          0.16897287099413125,
          -0.963758349780499,
          0.27022250261695624,
          0.9005126685550874,
          -0.6800426161684973
        ],
        "eef_pose_l": [
          468.38551023526674,
          323.4209987821205,
          77.70025204415236,
          1.7944180601711834,
          -0.008108234288759758,
          0.5755482551626296
        ],
        "eef_pose_r": [
          508.9578978399066,
          -313.0844316080141,
          4.936824447463664,
          1.5641724149840674,
          0.08222696188615715,
          2.4408283808598275
        ],
        "joint_status_l": {
          "velocity": [
            -0.5275646177858029,
            2.9919430974856276,
            -0.5206378852412596,
            -4.677379167794982,
            6.558934779349768,
            6.0225462654859285,
            -2.32078688511006
          ],
          "torque": [
            -32.24853515625,
            12.18017578125,
            -17.98095703125,
            -4.736328125,
            -1.812744140625,
            0.4742431640625,
            -0.59234619140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3516904555102016,
            -4.894382952771004,
            -0.765497662309711,
            6.338360512297747,
            -0.008341642595777188,
            4.255837295751519,
            -0.4365532043228981
          ],
          "torque": [
            34.68017578125,
            6.181640625,
            8.53271484375,
            -1.4892578125,
            3.64013671875,
            4.51904296875,
            -0.61981201171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.9,
            -5.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.9,
            -5.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.6,
            -1.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.6,
            -1.5,
            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": 66,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3161897620991933,
          -0.4195065991387454,
          -0.09813327591728159,
          -1.3087066826577323,
          0.22392209355022144,
          -0.764754456057802,
          0.09782686104232692
        ],
        "act_joint_pos_r": [
          -0.5807383461483235,
          -0.7141412232251465,
          0.16275417109762708,
          -0.9102472348742604,
          0.27214280093700793,
          0.9393499826706196,
          -0.6844389095261896
        ],
        "act_eef_pose_l": [
          466.3550875079824,
          330.0422907697837,
          76.01563144788798,
          1.8296972158763922,
          -0.049378704690729136,
          0.6098860704410574
        ],
        "act_eef_pose_r": [
          515.8342644042035,
          -305.58194812687873,
          5.484143346919836,
          1.544410863713061,
          0.08975024513760044,
          2.4576834769920426
        ],
        "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": [
          0.31784498003824624,
          -0.44428442286376496,
          -0.09372611192382597,
          -1.2693543814017947,
          0.18022477493697248,
          -0.8168182162030495,
          0.10967718381389183
        ],
        "joint_pos_r": [
          -0.5898086408386275,
          -0.6823761933249393,
          0.16777014999957526,
          -0.9536823781033587,
          0.27032492249285156,
          0.9074470606148151,
          -0.6807778967199666
        ],
        "eef_pose_l": [
          468.0236654034613,
          324.54380083251783,
          77.30543076989451,
          1.8013132034033332,
          -0.014975859704328057,
          0.5812889323469962
        ],
        "eef_pose_r": [
          510.33037114028326,
          -311.5873115115032,
          4.928130172415848,
          1.5607116999113233,
          0.08356227651557159,
          2.444032999441398
        ],
        "joint_status_l": {
          "velocity": [
            -0.17875826522484317,
            2.675926040082377,
            -0.47595967361291347,
            -4.249923190856819,
            4.719171225715302,
            5.622720262417502,
            -1.2797971137308295
          ],
          "torque": [
            -32.578125,
            13.02978515625,
            -17.1875,
            -4.39453125,
            -1.669921875,
            0.7379150390625,
            -0.63262939453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9795629358881897,
            -3.4305220513823897,
            -0.5417097445354901,
            4.690857119308056,
            0.1963250816701123,
            3.445413964973554,
            -0.3953777220289112
          ],
          "torque": [
            35.6103515625,
            5.6689453125,
            9.14306640625,
            -2.130126953125,
            4.599609375,
            4.16015625,
            -0.58319091796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.4,
            -7.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.0,
            -16.4,
            -7.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.2,
            -2.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.2,
            -2.8,
            1.0,
            0.3,
            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": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3199562597806064,
          -0.4192276695275829,
          -0.09828631798614626,
          -1.3111628606443297,
          0.21187845895661397,
          -0.7596633272777671,
          0.10837153380712244
        ],
        "act_joint_pos_r": [
          -0.5877879389718901,
          -0.6998007900490367,
          0.1649757318291596,
          -0.9295273715466644,
          0.29009791086137016,
          0.9230329402713268,
          -0.7025816295544769
        ],
        "act_eef_pose_l": [
          466.4958875079824,
          329.63349076978363,
          76.05083144788802,
          1.8232882263909058,
          -0.04946035295009637,
          0.6129698056990853
        ],
        "act_eef_pose_r": [
          514.3238644042035,
          -309.77714812687867,
          5.920143346919758,
          1.5424922165318098,
          0.09288159561169285,
          2.4401371378468113
        ],
        "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": [
          0.3179475053842708,
          -0.4401833204089746,
          -0.09446585149114738,
          -1.2760680204431498,
          0.18621048776898294,
          -0.8077527866874411,
          0.10877787403160001
        ],
        "joint_pos_r": [
          -0.5886270519965252,
          -0.6869685730751948,
          0.16704308815996585,
          -0.9473883728904641,
          0.27141212526736064,
          0.9119753225387262,
          -0.6821763395535481
        ],
        "eef_pose_l": [
          467.76973278847385,
          325.3947406388026,
          77.04554401779424,
          1.8055516211785403,
          -0.020460225989703495,
          0.5863401936406538
        ],
        "eef_pose_r": [
          511.18182778430725,
          -310.7948921864134,
          5.026417187008718,
          1.5579369846929223,
          0.0846794436871806,
          2.4455152637334723
        ],
        "joint_status_l": {
          "velocity": [
            0.21693907652808875,
            2.2631435473394745,
            -0.41259821252603857,
            -3.790130957790794,
            2.772059130750293,
            5.193508441901251,
            -0.0438834499704166
          ],
          "torque": [
            -24.00146484375,
            11.3525390625,
            -17.596435546875,
            -5.029296875,
            -1.7852783203125,
            0.4705810546875,
            0.0091552734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0906215339222527,
            -1.3858385600507006,
            -0.22326789879234532,
            1.928931254344235,
            2.0180053262672804,
            1.194187494443888,
            -2.2037063252566824
          ],
          "torque": [
            35.390625,
            4.15283203125,
            8.80126953125,
            -0.921630859375,
            4.5465087890625,
            4.339599609375,
            -0.59326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.8,
            -5.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.8,
            -5.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.4,
            -2.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.4,
            -2.0,
            1.1,
            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": 74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3238424446519672,
          -0.42074316638375964,
          -0.09806558033793103,
          -1.3100498050967846,
          0.19377849548476164,
          -0.7505988099908837,
          0.13161897815216328
        ],
        "act_joint_pos_r": [
          -0.5897208187641647,
          -0.6926314588571985,
          0.16611334499224426,
          -0.939036390775385,
          0.2967474955404579,
          0.9104959873246066,
          -0.7131789856652271
        ],
        "act_eef_pose_l": [
          468.22948750798236,
          329.98949076978363,
          76.35883144788778,
          1.8139265212260987,
          -0.058343322227698904,
          0.6201670324454652
        ],
        "act_eef_pose_r": [
          514.3038644042035,
          -312.22914812687867,
          6.120143346919804,
          1.544772426069499,
          0.09849644032142567,
          2.428990022544605
        ],
        "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": [
          0.31866427540524583,
          -0.4368890483367831,
          -0.09507196265052627,
          -1.2817267382051836,
          0.18862986598720682,
          -0.7989454997841725,
          0.11102338536049297
        ],
        "joint_pos_r": [
          -0.5886709440399176,
          -0.6885243179353678,
          0.1667907151044389,
          -0.9451762142218835,
          0.2753773315402549,
          0.9126834117475249,
          -0.6868382345475589
        ],
        "eef_pose_l": [
          467.754909946168,
          326.1732940644788,
          76.87774914606695,
          1.807710107832084,
          -0.026517079999943797,
          0.5918984483438452
        ],
        "eef_pose_r": [
          511.7370944903669,
          -310.85426169208347,
          5.205215661242704,
          1.5554260343109392,
          0.08668889260201966,
          2.4434972807791633
        ],
        "joint_status_l": {
          "velocity": [
            0.5592257851629867,
            1.7437038231311597,
            -0.3233011749812498,
            -3.0588010097805096,
            0.5560355863427624,
            5.221288504002608,
            2.2242584205048876
          ],
          "torque": [
            -20.36865234375,
            11.55029296875,
            -17.718505859375,
            -4.669189453125,
            -2.0672607421875,
            0.8514404296875,
            0.34332275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.11338312616171464,
            -0.4435581375101805,
            -0.07315381456063363,
            0.6630813756824949,
            2.3079096438654023,
            -0.2362348703002226,
            -2.844717220258808
          ],
          "torque": [
            28.60107421875,
            5.64697265625,
            8.85009765625,
            -2.3193359375,
            4.9420166015625,
            2.83447265625,
            -0.655517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.1,
            -6.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.1,
            -6.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.6,
            -2.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.6,
            -2.1,
            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": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3226400953060524,
          -0.42270830260773457,
          -0.09774353852114162,
          -1.3079670258746967,
          0.1879858405014738,
          -0.7481828240832112,
          0.13747391725185729
        ],
        "act_joint_pos_r": [
          -0.5902358732720256,
          -0.6903662945650859,
          0.16649561646926256,
          -0.9426748106576578,
          0.2978488349816941,
          0.9059789301112114,
          -0.7146731311825452
        ],
        "act_eef_pose_l": [
          469.49348750798237,
          329.94229076978365,
          77.35083144788797,
          1.8096974250495057,
          -0.06126887607799968,
          0.6227742908245163
        ],
        "act_eef_pose_r": [
          514.2302644042035,
          -312.78194812687866,
          6.1121433469197655,
          1.546149384502318,
          0.09897402892629341,
          2.426138229708536
        ],
        "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": [
          0.3195074648997319,
          -0.4340586294932097,
          -0.09560152728615068,
          -1.2868458213526979,
          0.18894948832579175,
          -0.7895335560923981,
          0.11557740392173979
        ],
        "joint_pos_r": [
          -0.5888674461950789,
          -0.6889844394405522,
          0.16671545609159552,
          -0.944506555626342,
          0.2787006259320154,
          0.9120256837447539,
          -0.6909443616455495
        ],
        "eef_pose_l": [
          467.99635587152085,
          326.8308617586313,
          76.887565897804,
          1.8083431144769304,
          -0.03246359981389596,
          0.5972049317079939
        ],
        "eef_pose_r": [
          512.1228808962429,
          -311.0986321681402,
          5.347107399531922,
          1.5538919957037953,
          0.0885282049637377,
          2.44111319386365
        ],
        "joint_status_l": {
          "velocity": [
            0.33831410584106436,
            1.2257991506179344,
            -0.23133039065381666,
            -2.281022813203748,
            -0.10407089561947913,
            4.465747346815263,
            2.3647536949705783
          ],
          "torque": [
            -20.19287109375,
            11.9384765625,
            -18.017578125,
            -4.852294921875,
            -3.99169921875,
            0.582275390625,
            0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1477857656020376,
            -0.1492359519703612,
            -0.0237419789799187,
            0.19782262215173319,
            2.067945586570419,
            -0.6530301323293131,
            -2.5626315292184287
          ],
          "torque": [
            26.4990234375,
            5.6982421875,
            12.6953125,
            -2.117919921875,
            4.698486328125,
            2.3748779296875,
            -0.95855712890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.6,
            -5.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.6,
            -5.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.3,
            -1.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.3,
            -1.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3223487586724436,
          -0.42396833313660887,
          -0.0975288280956439,
          -1.306266498570215,
          0.18557330299710645,
          -0.7488934078731284,
          0.14031775194057813
        ],
        "act_joint_pos_r": [
          -0.5904911934654482,
          -0.6895692603173661,
          0.1666546646191539,
          -0.9446356986400998,
          0.29922132484231184,
          0.9038298240457474,
          -0.716720061986238
        ],
        "act_eef_pose_l": [
          469.9030875079824,
          329.79029076978367,
          77.59643144788794,
          1.808064195608836,
          -0.062269731026422206,
          0.6224832933942944
        ],
        "act_eef_pose_r": [
          514.2350644042035,
          -312.8635481268787,
          6.216943346919834,
          1.546074770116621,
          0.09983802585933443,
          2.4247520282159636
        ],
        "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": [
          0.31998957948065954,
          -0.43233487408992155,
          -0.09592943541291034,
          -1.2901261565713191,
          0.18851883157427543,
          -0.782815872877906,
          0.11949799493010228
        ],
        "joint_pos_r": [
          -0.5891747910001446,
          -0.6891618648991787,
          0.16669129336167,
          -0.944385335322556,
          0.28272398968715895,
          0.9105389437462382,
          -0.6959737974517569
        ],
        "eef_pose_l": [
          468.29892094665996,
          327.31600827182564,
          76.98789686851597,
          1.8083751959560517,
          -0.03731866202976945,
          0.6013752897094972
        ],
        "eef_pose_r": [
          512.5493371032986,
          -311.44317153269935,
          5.519201855695627,
          1.5523022803571938,
          0.09075614252635775,
          2.437945157673208
        ],
        "joint_status_l": {
          "velocity": [
            0.2547838382649381,
            0.9035597738868972,
            -0.17272931535627922,
            -1.74310552572976,
            -0.3181077042491154,
            3.66351817082311,
            2.248467442128921
          ],
          "torque": [
            -19.18212890625,
            10.9716796875,
            -17.7978515625,
            -4.33349609375,
            -4.3487548828125,
            0.523681640625,
            0.5548095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.14216727325244705,
            -0.0439974075296945,
            -0.003955787522214038,
            -0.027038440838289546,
            1.7816596495139336,
            -0.7245635577941556,
            -2.2405304888089006
          ],
          "torque": [
            25.08544921875,
            8.759765625,
            12.1826171875,
            -4.06494140625,
            4.69482421875,
            2.340087890625,
            -0.66741943359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.4,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.3,
            -1.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.3,
            -1.9,
            1.1,
            0.3,
            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": 103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3247742713145371,
          -0.4256625899556836,
          -0.0972216019069989,
          -1.3036556142501097,
          0.17466464400704645,
          -0.7513105603963358,
          0.1493748216053692
        ],
        "act_joint_pos_r": [
          -0.5909655320942724,
          -0.6889948533570748,
          0.16674720391719228,
          -0.9454273418579847,
          0.30152113827545785,
          0.9051520874038098,
          -0.7178266566086876
        ],
        "act_eef_pose_l": [
          470.09348750798233,
          329.3766907697837,
          77.63163144788797,
          1.8022482499266406,
          -0.0608385414575572,
          0.6217271246770325
        ],
        "act_eef_pose_r": [
          513.9830644042034,
          -312.91394812687867,
          6.5745433469198815,
          1.5439751463787612,
          0.09922519288340945,
          2.42477741160595
        ],
        "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": [
          0.32046177099488593,
          -0.4314026671157287,
          -0.09610884207898047,
          -1.2919719408525547,
          0.18736109761913233,
          -0.7787151865285551,
          0.12277476700820067
        ],
        "joint_pos_r": [
          -0.5894447271362385,
          -0.6891640211028327,
          0.16669571416288342,
          -0.9445158251401087,
          0.2856955920891974,
          0.9095852036871838,
          -0.6995092578486588
        ],
        "eef_pose_l": [
          468.52038827593185,
          327.59158705534674,
          77.06916804754502,
          1.8078925551251277,
          -0.040375471953319406,
          0.603968314032358
        ],
        "eef_pose_r": [
          512.79910774921,
          -311.6794641014491,
          5.67752527694725,
          1.551026324511136,
          0.09219259012027144,
          2.4357923564204906
        ],
        "joint_status_l": {
          "velocity": [
            0.4657362983642166,
            0.6199100500157151,
            -0.12017451706802795,
            -1.2617995121484427,
            -1.3711765494148764,
            2.959612333180317,
            2.872721170112169
          ],
          "torque": [
            -19.35791015625,
            10.810546875,
            -18.035888671875,
            -4.473876953125,
            -4.581298828125,
            0.6280517578125,
            0.76995849609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1642420914054199,
            0.01826957771022819,
            0.005560729460230007,
            -0.09844090217114854,
            1.709108580653318,
            -0.4787624382620592,
            -1.9782207215817138
          ],
          "torque": [
            24.60205078125,
            9.39697265625,
            12.237548828125,
            -5.40771484375,
            4.658203125,
            2.1368408203125,
            -0.90087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.0,
            -6.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.0,
            -6.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.5,
            -2.4,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.5,
            -2.4,
            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": 133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3267256103483029,
          -0.42644869955534404,
          -0.09713655891052317,
          -1.3046706182545516,
          0.16817379408316324,
          -0.7498381893257733,
          0.15305705042148782
        ],
        "act_joint_pos_r": [
          -0.5901076617815266,
          -0.6959220520609565,
          0.1654427867601191,
          -0.9302228743450016,
          0.30101084787171306,
          0.9154178061194148,
          -0.7127834808281008
        ],
        "act_eef_pose_l": [
          470.1158875079824,
          328.69749076978366,
          77.56283144788796,
          1.7987465094284107,
          -0.05840508626357691,
          0.622250643442329
        ],
        "act_eef_pose_r": [
          515.2398644042034,
          -313.18034812687864,
          5.698543346919905,
          1.5422115096465985,
          0.09574150479193881,
          2.4260199940530383
        ],
        "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": [
          0.3213114208916263,
          -0.43051570507720544,
          -0.09628564285639898,
          -1.293965865833644,
          0.18480585822852974,
          -0.774103833270256,
          0.12741318706588586
        ],
        "joint_pos_r": [
          -0.589605507948731,
          -0.6900070882954016,
          0.166540433094962,
          -0.942760895862262,
          0.2884293740273902,
          0.9100950949542852,
          -0.7021123782743115
        ],
        "eef_pose_l": [
          468.78592677230466,
          327.8278999953687,
          77.16340481178204,
          1.806663943365844,
          -0.04359359805458921,
          0.6068979579779454
        ],
        "eef_pose_r": [
          513.1682277583437,
          -311.92904788836074,
          5.7259214918450425,
          1.5495542267071014,
          0.09299443093154901,
          2.4340154251613115
        ],
        "joint_status_l": {
          "velocity": [
            0.5847152160671776,
            0.43922364215198684,
            -0.09189622351113425,
            -1.1560791647262647,
            -1.7962099513189056,
            2.620612255176624,
            2.7694555616794014
          ],
          "torque": [
            -20.54443359375,
            11.806640625,
            -17.9931640625,
            -4.144287109375,
            -5.0592041015625,
            0.64453125,
            0.662841796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05423101448354117,
            -0.6387972463617331,
            -0.11854230794461351,
            1.3540663878117698,
            1.3587591007291344,
            0.5748358519568342,
            -1.1524450862578917
          ],
          "torque": [
            26.9970703125,
            5.1708984375,
            8.9111328125,
            -1.715087890625,
            4.5941162109375,
            3.6785888671875,
            -0.76263427734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.3,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.3,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.1,
            -2.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.1,
            -2.5,
            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": 53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32800133521416885,
          -0.42647007836452777,
          -0.09713346217928934,
          -1.304605418908611,
          0.16444426476463125,
          -0.7493005503561817,
          0.15589251338717414
        ],
        "act_joint_pos_r": [
          -0.5882837813336077,
          -0.7038304052927941,
          0.1641202232507371,
          -0.9165927038457058,
          0.30058100021830075,
          0.9235573436857155,
          -0.7098528967200146
        ],
        "act_eef_pose_l": [
          470.14228750798236,
          328.71269076978365,
          77.44843144788803,
          1.7970254927261946,
          -0.05768154250549736,
          0.6231250783496181
        ],
        "act_eef_pose_r": [
          516.8126644042035,
          -312.57794812687865,
          5.210543346919849,
          1.5399815688722605,
          0.09433409377277961,
          2.4276439590053505
        ],
        "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": [
          0.3224444701773254,
          -0.4297487263702024,
          -0.09644623157637731,
          -1.2959838612615786,
          0.18134146757637548,
          -0.7694705512329539,
          0.132504354261567
        ],
        "joint_pos_r": [
          -0.5895003197945351,
          -0.6916915566898191,
          0.16624226672695092,
          -0.9395019581287313,
          0.29029642505349457,
          0.9117126571107238,
          -0.7034407080665215
        ],
        "eef_pose_l": [
          469.0438941262073,
          327.9849142398791,
          77.23768840100146,
          1.8049632576967682,
          -0.04636506544270896,
          0.6098416534901909
        ],
        "eef_pose_r": [
          513.6421606541504,
          -312.05934581595983,
          5.670446622907633,
          1.548220945381251,
          0.09325829244277604,
          2.432972183809546
        ],
        "joint_status_l": {
          "velocity": [
            0.6001237242756474,
            0.354083541477479,
            -0.07421871615043152,
            -0.9311007645305125,
            -1.8248440827692836,
            2.1782958492897464,
            2.5258466896995735
          ],
          "torque": [
            -19.6435546875,
            11.31591796875,
            -17.791748046875,
            -4.23583984375,
            -4.852294921875,
            0.4888916015625,
            0.64453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.13138227886777543,
            -1.3109569845113356,
            -0.22917393630716987,
            2.474126492106876,
            1.1107013594133797,
            1.2791884224530037,
            -0.6924959505001382
          ],
          "torque": [
            29.5751953125,
            3.80859375,
            8.380126953125,
            -1.141357421875,
            4.6160888671875,
            4.0301513671875,
            -0.6976318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.6,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.6,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.0,
            -1.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.0,
            -1.4,
            1.0,
            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": 85,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33040956811011635,
          -0.4266364288747511,
          -0.09708843522583634,
          -1.3037417991062055,
          0.15530357421746224,
          -0.7504331077109063,
          0.1632305585183063
        ],
        "act_joint_pos_r": [
          -0.5850387282215141,
          -0.7134478237471238,
          0.1625683123353184,
          -0.9002822553701926,
          0.2952601066669635,
          0.9341163200083369,
          -0.7022418324283874
        ],
        "act_eef_pose_l": [
          470.0590875079824,
          328.6478907697836,
          77.4924314478879,
          1.7923032694077685,
          -0.05637008446919928,
          0.6234382710176315
        ],
        "act_eef_pose_r": [
          518.4798644042035,
          -311.35714812687866,
          4.65134334691993,
          1.5392676466297375,
          0.09229736933967944,
          2.432849522921576
        ],
        "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": [
          0.3235316306766087,
          -0.4292217260913063,
          -0.09655596256039392,
          -1.2973389366326986,
          0.1779045864660241,
          -0.7662363565209279,
          0.1368783444316506
        ],
        "joint_pos_r": [
          -0.5889041679623361,
          -0.6950715058243006,
          0.16566599981733365,
          -0.9333307425600481,
          0.2916401664511527,
          0.9151432467628364,
          -0.7037939954968709
        ],
        "eef_pose_l": [
          469.2204540563934,
          328.09221071210106,
          77.28302007994563,
          1.8032702591771792,
          -0.04815676068908404,
          0.6120145494531191
        ],
        "eef_pose_r": [
          514.4378432124274,
          -312.02558776564814,
          5.513329940337201,
          1.5465816437033704,
          0.0932096279787124,
          2.432550418944834
        ],
        "joint_status_l": {
          "velocity": [
            0.7427953352410199,
            0.2792038647103645,
            -0.05750535183812744,
            -0.6914887527678104,
            -2.4408373341955336,
            1.7067005350410724,
            2.845955184397342
          ],
          "torque": [
            -19.3212890625,
            11.97509765625,
            -18.023681640625,
            -4.876708984375,
            -4.9658203125,
            0.5877685546875,
            0.76080322265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4174551798268311,
            -1.984583803494644,
            -0.3345403813166392,
            3.5691313506029942,
            0.3909420130892016,
            2.0490314775605256,
            0.16762866745345661
          ],
          "torque": [
            32.314453125,
            5.42724609375,
            8.575439453125,
            -2.020263671875,
            4.5172119140625,
            4.163818359375,
            0.32501220703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.6,
            -7.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.6,
            -7.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.0,
            -2.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.0,
            -2.5,
            1.0,
            0.3,
            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": 171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3315231134036829,
          -0.4266253134287951,
          -0.09708096485134025,
          -1.3033646232515814,
          0.15177428538166077,
          -0.750973850218949,
          0.16595783484008267
        ],
        "act_joint_pos_r": [
          -0.583263846256516,
          -0.7217421253256389,
          0.1612076268926711,
          -0.8841809018827372,
          0.2913054821550025,
          0.9422753901037676,
          -0.6962597952709456
        ],
        "act_eef_pose_l": [
          469.98788750798235,
          328.6654907697836,
          77.43003144788787,
          1.7905933321355705,
          -0.05561851953935761,
          0.6236035948589367
        ],
        "act_eef_pose_r": [
          520.1086644042035,
          -311.12274812687866,
          3.3921433469199656,
          1.540375687714355,
          0.09032968890591221,
          2.4346565330807337
        ],
        "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": [
          0.324927453672533,
          -0.42873205439736156,
          -0.09665597803822278,
          -1.2985169209802465,
          0.1733290411251329,
          -0.7632953986607162,
          0.14209412447769107
        ],
        "joint_pos_r": [
          -0.5879970520473917,
          -0.6993658554457882,
          0.16494682671300354,
          -0.9254583719799315,
          0.29178183374440364,
          0.9195260656386438,
          -0.7027656934257306
        ],
        "eef_pose_l": [
          469.37344801232587,
          328.1898442446875,
          77.32534600599476,
          1.8009993709734822,
          -0.04966978262343506,
          0.6141460305118338
        ],
        "eef_pose_r": [
          515.3720586622171,
          -311.8902749933294,
          5.192425898459561,
          1.5454131010472765,
          0.0927797455609312,
          2.4328139293943427
        ],
        "joint_status_l": {
          "velocity": [
            0.7123102424966277,
            0.2275213142231003,
            -0.04589722215042613,
            -0.5235364044224866,
            -2.3278449641779275,
            1.3306879851668896,
            2.5772047085486083
          ],
          "torque": [
            -19.3798828125,
            11.484375,
            -13.5986328125,
            -5.291748046875,
            -5.240478515625,
            0.52001953125,
            0.65643310546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5111711492276072,
            -2.416565874222343,
            -0.4038216705122277,
            4.457835293673718,
            -0.051444454382210125,
            2.456854581180501,
            0.7026162781578194
          ],
          "torque": [
            36.0498046875,
            5.25146484375,
            8.45947265625,
            -1.806640625,
            3.7335205078125,
            4.4439697265625,
            0.47607421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.8,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.1,
            -2.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.1,
            -2.6,
            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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33136302804797557,
          -0.4256777938427694,
          -0.09730054526471316,
          -1.3065756864405877,
          0.1516957052310728,
          -0.7500379851690927,
          0.16484550513509041
        ],
        "act_joint_pos_r": [
          -0.5813700490114614,
          -0.7334118377345833,
          0.15958840940520505,
          -0.8685043406033858,
          0.2859509488508509,
          0.9481949526620257,
          -0.6879051271985237
        ],
        "act_eef_pose_l": [
          469.49668750798236,
          328.11029076978366,
          77.8076314478879,
          1.7898972966406717,
          -0.05475577599606797,
          0.622621398341707
        ],
        "act_eef_pose_r": [
          522.0806644042035,
          -308.97394812687867,
          1.5577433469197786,
          1.5423320904782716,
          0.08550628848670606,
          2.4387015493015567
        ],
        "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": [
          0.3260798726944041,
          -0.42827818634968423,
          -0.09674997813195267,
          -1.2996498204150742,
          0.16951123017548345,
          -0.7610364677358878,
          0.14621789569996574
        ],
        "joint_pos_r": [
          -0.5869464800436552,
          -0.7046390113730171,
          0.1641029876765242,
          -0.9163911808130323,
          0.2910933901231389,
          0.9242163176091742,
          -0.7006726316038197
        ],
        "eef_pose_l": [
          469.44007401791885,
          328.2200279134519,
          77.38168734694628,
          1.7990645804944054,
          -0.05066560093268809,
          0.615703895067481
        ],
        "eef_pose_r": [
          516.4513163175062,
          -311.5316232271342,
          4.65538419502559,
          1.5447130216776501,
          0.09178776048183833,
          2.433568654008155
        ],
        "joint_status_l": {
          "velocity": [
            0.5705639503017501,
            0.2808341079876264,
            -0.05945949667396366,
            -0.7479714705151963,
            -1.9240199480612397,
            1.1878010848942466,
            2.011722486410239
          ],
          "torque": [
            -19.21875,
            11.71142578125,
            -17.645263671875,
            -4.718017578125,
            -4.9383544921875,
            0.377197265625,
            0.66192626953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6022367894527036,
            -3.107373599963381,
            -0.48756007348682573,
            5.171626213679836,
            -0.555367277724983,
            2.589616209060175,
            1.3788498087707879
          ],
          "torque": [
            35.0244140625,
            4.6875,
            8.58154296875,
            -1.23291015625,
            2.4609375,
            4.3817138671875,
            0.6610107421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.7,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.7,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -16.8,
            -2.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -16.8,
            -2.5,
            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": 133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33203653295120483,
          -0.4231401149855728,
          -0.09777811885762405,
          -1.3107314873825113,
          0.15181021950324958,
          -0.746914211445062,
          0.16315815888152185
        ],
        "act_joint_pos_r": [
          -0.5791931850148071,
          -0.746568571386303,
          0.1577368714514029,
          -0.847707680198895,
          0.28030928222752177,
          0.9626431806161058,
          -0.6770781845112281
        ],
        "act_eef_pose_l": [
          468.9286875079823,
          328.27429076978365,
          77.93243144788795,
          1.7900539090658787,
          -0.053591101120259374,
          0.6244168034010793
        ],
        "act_eef_pose_r": [
          523.6958644042035,
          -306.7891481268787,
          0.12814334691984186,
          1.5412379468807322,
          0.07923731029224435,
          2.446533510974957
        ],
        "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": [
          0.32706253985749706,
          -0.4276354440101615,
          -0.09688175692074003,
          -1.3011740122685365,
          0.16636955226971692,
          -0.7588666140064514,
          0.1493897530348533
        ],
        "joint_pos_r": [
          -0.5859430495124295,
          -0.7099552085399602,
          0.16328419775349043,
          -0.9076227181836125,
          0.28990601877731353,
          0.9288978990892829,
          -0.6979539456694935
        ],
        "eef_pose_l": [
          469.40967837416025,
          328.2083514052554,
          77.4697041909551,
          1.7974283438574798,
          -0.05132081214637792,
          0.6170374623671975
        ],
        "eef_pose_r": [
          517.4453567212189,
          -311.00935159562425,
          4.070336486434826,
          1.5442285696761586,
          0.09037467389366335,
          2.434875945087666
        ],
        "joint_status_l": {
          "velocity": [
            0.5371754109786409,
            0.48548121615255013,
            -0.09680423409508254,
            -1.032176869879109,
            -1.572361564452951,
            1.2908214058882095,
            1.486943976371835
          ],
          "torque": [
            -19.39453125,
            11.46240234375,
            -17.46826171875,
            -4.62646484375,
            -5.1580810546875,
            0.3936767578125,
            0.53466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.728963866102994,
            -3.9541265666755976,
            -0.5990935713049428,
            6.470633261223213,
            -1.0364169798928735,
            3.6443829195675903,
            2.2545157117068726
          ],
          "torque": [
            35.888671875,
            4.6435546875,
            8.67919921875,
            -1.690673828125,
            2.2906494140625,
            4.141845703125,
            0.87066650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -17.1,
            -6.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -17.1,
            -6.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -16.9,
            -2.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.9,
            -2.5,
            1.1,
            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": 124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3339093730248797,
          -0.417445442570203,
          -0.09874526175472288,
          -1.3152474705874735,
          0.15065774186846778,
          -0.7437167522450695,
          0.16418085993965698
        ],
        "act_joint_pos_r": [
          -0.5764533987902344,
          -0.7547983485398522,
          0.15650427683765544,
          -0.8307069150312223,
          0.274147338208349,
          0.9764577061198499,
          -0.6680293188392292
        ],
        "act_eef_pose_l": [
          467.91988750798237,
          329.84469076978365,
          77.98363144788806,
          1.7904350182649942,
          -0.05405802520503439,
          0.6286743733179484
        ],
        "act_eef_pose_r": [
          524.6790644042035,
          -306.10034812687866,
          -0.31265665308023927,
          1.5405953869682862,
          0.07650090747793502,
          2.453157847171717
        ],
        "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": [
          0.3280770186967991,
          -0.42643003620793507,
          -0.09710997394085202,
          -1.303189464503695,
          0.16371224418389088,
          -0.7565227863507206,
          0.1518978614738521
        ],
        "joint_pos_r": [
          -0.5846741948791787,
          -0.7164525052215928,
          0.16230061737212895,
          -0.8967850545511551,
          0.28797029080114067,
          0.9352482251049914,
          -0.6939962402522835
        ],
        "eef_pose_l": [
          469.25311783456885,
          328.3307077627039,
          77.5577475916534,
          1.7961268015427656,
          -0.0517698237298423,
          0.6186374169435694
        ],
        "eef_pose_r": [
          518.5627737455823,
          -310.3062046083307,
          3.383252136377422,
          1.543626172347993,
          0.08838557230314208,
          2.4371218847290375
        ],
        "joint_status_l": {
          "velocity": [
            0.6298756902420877,
            0.9703074951850077,
            -0.17660587518619764,
            -1.302226249936922,
            -1.409844668919913,
            1.3830108936847552,
            1.3265247105518352
          ],
          "torque": [
            -18.427734375,
            12.13623046875,
            -18.109130859375,
            -4.55322265625,
            -5.1470947265625,
            0.552978515625,
            0.61798095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.887819792761313,
            -4.141228939352537,
            -0.6259863152435763,
            7.136228596341887,
            -1.4928348512111,
            4.4504926893393915,
            2.8043448028816087
          ],
          "torque": [
            35.92529296875,
            3.80859375,
            8.489990234375,
            1.8798828125,
            1.8438720703125,
            4.48974609375,
            0.6298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.5,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.5,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.4,
            -1.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.4,
            -1.8,
            1.0,
            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": 133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33550273205711273,
          -0.41281879867998234,
          -0.09960344191470916,
          -1.320800360389157,
          0.1489270928461788,
          -0.7369400166862529,
          0.16598619540219936
        ],
        "act_joint_pos_r": [
          -0.5742304989073256,
          -0.7549812321230364,
          0.1564653118609654,
          -0.8285510083188795,
          0.26159623152102585,
          0.9853738686755743,
          -0.6544490472007386
        ],
        "act_eef_pose_l": [
          467.42948750798234,
          330.95909076978364,
          78.15323144788778,
          1.7902638291974433,
          -0.055511235686123976,
          0.634367356184034
        ],
        "act_eef_pose_r": [
          523.3894644042035,
          -305.0307481268786,
          -0.15825665308011594,
          1.543809364838775,
          0.07236636756557324,
          2.4650264534132833
        ],
        "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": [
          0.3291943143273769,
          -0.42449282084229806,
          -0.09746416669465266,
          -1.3057240637794774,
          0.16139400552930674,
          -0.7537434846902573,
          0.1540966971955369
        ],
        "joint_pos_r": [
          -0.5831016331536585,
          -0.7227745735828977,
          0.161343850361255,
          -0.8857076788832657,
          0.28444946348854216,
          0.9429097195127752,
          -0.688376635000671
        ],
        "eef_pose_l": [
          468.9878298378947,
          328.6889658524966,
          77.64645947751981,
          1.795144273338329,
          -0.05230370516239128,
          0.6208454393355131
        ],
        "eef_pose_r": [
          519.4772612129394,
          -309.53513842914873,
          2.7871626171456683,
          1.543318228311768,
          0.08606675625269126,
          2.440869386919993
        ],
        "joint_status_l": {
          "velocity": [
            0.6812890212657408,
            1.2607572094842645,
            -0.23103490975562302,
            -1.6281920128875527,
            -1.346386860219928,
            1.8147210220975651,
            1.2840279359398465
          ],
          "torque": [
            -18.14208984375,
            12.94921875,
            -17.926025390625,
            -4.351806640625,
            -5.072021484375,
            0.6005859375,
            0.54473876953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9580542423055505,
            -3.4782165378217655,
            -0.5268666189308657,
            6.172738365767927,
            -2.4680762604734063,
            4.585992852952359,
            3.664071416382697
          ],
          "torque": [
            36.5625,
            5.66162109375,
            8.837890625,
            -1.568603515625,
            1.9573974609375,
            4.21142578125,
            0.68115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.6,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.6,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.4,
            -1.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.4,
            -1.9,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -408,
          "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": [
          0.33620750467846905,
          -0.4105729123505749,
          -0.10007105485381922,
          -1.324883076832512,
          0.14739010793118856,
          -0.7326544925747991,
          0.16719648990231678
        ],
        "act_joint_pos_r": [
          -0.5756385985513446,
          -0.7488102997261812,
          0.15738721937624528,
          -0.8391496691104854,
          0.2584864277933132,
          0.9826600829026321,
          -0.6514472830613195
        ],
        "act_eef_pose_l": [
          467.12468750798234,
          331.12229076978366,
          78.44283144788784,
          1.7894455414102297,
          -0.056192632097293194,
          0.636889814483608
        ],
        "act_eef_pose_r": [
          521.5286644042035,
          -305.01474812687866,
          0.07054334691974873,
          1.5457776790904367,
          0.07022784086069526,
          2.468277172158226
        ],
        "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": [
          0.3303892241491566,
          -0.4221753234264145,
          -0.09789517530268142,
          -1.308850385016533,
          0.1590163128405805,
          -0.7502888996405209,
          0.15633543348174467
        ],
        "joint_pos_r": [
          -0.5816731989560918,
          -0.7278551885312671,
          0.16057298145858945,
          -0.8766560969574324,
          0.2800995026914083,
          0.9501478108279164,
          -0.6820793811699836
        ],
        "eef_pose_l": [
          468.6816292225962,
          329.1074762913671,
          77.77070028333239,
          1.79415541302054,
          -0.05296336477613294,
          0.6235134936896033
        ],
        "eef_pose_r": [
          520.010708309975,
          -308.75054769837027,
          2.294729774651131,
          1.543478814659808,
          0.08349613628995557,
          2.445414394833265
        ],
        "joint_status_l": {
          "velocity": [
            0.6283557648028015,
            1.2530234402396978,
            -0.2349880609204824,
            -1.731479648862333,
            -1.2555930984752273,
            1.9044597940593988,
            1.1729594988303393
          ],
          "torque": [
            -18.84521484375,
            11.59423828125,
            -18.12744140625,
            -4.47998046875,
            -5.064697265625,
            0.7470703125,
            0.5126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6517176223290733,
            -2.2630852629186293,
            -0.3440521576172362,
            4.0505747421546445,
            -2.3341432471193357,
            3.5112218261170725,
            3.3081690265062136
          ],
          "torque": [
            35.9619140625,
            5.42724609375,
            8.660888671875,
            -0.8056640625,
            1.95556640625,
            4.3817138671875,
            0.72784423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.6,
            -5.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.6,
            -5.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.2,
            -2.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.2,
            -2.2,
            1.1,
            0.3,
            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": 101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3357726427701237,
          -0.4072009242522111,
          -0.10078881582882199,
          -1.331311279758793,
          0.15177464729808793,
          -0.7280436447297743,
          0.16251423657990355
        ],
        "act_joint_pos_r": [
          -0.5790793522792458,
          -0.7258102143122778,
          0.16071359505741256,
          -0.8750310438883492,
          0.25299991041261194,
          0.9707280499594992,
          -0.6468341364469469
        ],
        "act_eef_pose_l": [
          466.33668750798233,
          331.12709076978365,
          78.75883144788787,
          1.7914704036914573,
          -0.056359135142104,
          0.6382979677123032
        ],
        "act_eef_pose_r": [
          516.0486644042035,
          -306.6595481268787,
          2.175343346919817,
          1.5503447770693346,
          0.06757426108713518,
          2.4726301232352648
        ],
        "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": [
          0.3313688740154459,
          -0.41974341494970385,
          -0.09836088327479432,
          -1.3124104762832443,
          0.1574554658723686,
          -0.7466506871303932,
          0.15772740088126055
        ],
        "joint_pos_r": [
          -0.581023374060411,
          -0.729012402923185,
          0.16038011566141336,
          -0.874059163357165,
          0.27600069641069075,
          0.9543058546533173,
          -0.6765847595357329
        ],
        "eef_pose_l": [
          468.32156074150066,
          329.4647905995834,
          77.92529883056994,
          1.7935296794247257,
          -0.05356298576385533,
          0.6260350895546534
        ],
        "eef_pose_r": [
          519.7258354389005,
          -308.2980109577634,
          2.148145740967948,
          1.5442431822473361,
          0.08109607892425269,
          2.449600105028843
        ],
        "joint_status_l": {
          "velocity": [
            0.47559299863930704,
            1.3545490450406206,
            -0.26220898239437407,
            -2.0412265725990864,
            -0.6135103115030294,
            2.0095013121936844,
            0.5169630084445043
          ],
          "torque": [
            -19.03564453125,
            12.392578125,
            -18.06640625,
            -4.98046875,
            -4.92919921875,
            0.29296875,
            0.55206298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2099481602764186,
            0.3458261703812582,
            0.03601471257064226,
            -0.10496000173798592,
            -2.4840116257858202,
            1.7735447851601194,
            3.2129725320295677
          ],
          "torque": [
            36.708984375,
            10.53955078125,
            13.018798828125,
            -3.22265625,
            2.083740234375,
            3.9697265625,
            0.72784423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.8,
            -6.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.8,
            -6.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.9,
            -2.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.9,
            -2.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -297,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33700196893264356,
          -0.40265535773219435,
          -0.10161364500109647,
          -1.334121163371033,
          0.14576746315047334,
          -0.7272580885887551,
          0.16860614403228236
        ],
        "act_joint_pos_r": [
          -0.5763816619829775,
          -0.7023373417007759,
          0.16330678633584184,
          -0.8827084253007871,
          0.23328653176150915,
          1.0150810224726465,
          -0.6044784091110519
        ],
        "act_eef_pose_l": [
          465.58068750798236,
          332.3542907697837,
          79.60763144788785,
          1.7882296462747918,
          -0.058259098501698366,
          0.6409865494338594
        ],
        "act_eef_pose_r": [
          506.7734644042035,
          -311.38994812687866,
          8.349743346919922,
          1.5434826152338539,
          0.046313092398141686,
          2.5055085636778376
        ],
        "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": [
          0.33223155369588164,
          -0.41716855341356607,
          -0.09885310011611778,
          -1.3158347554272352,
          0.155843698172908,
          -0.7435031317642781,
          0.15920176238213027
        ],
        "joint_pos_r": [
          -0.5804113283536828,
          -0.7261114950210253,
          0.1606970099186342,
          -0.8749946323049541,
          0.2699731688732281,
          0.9616210142511531,
          -0.66711167825067
        ],
        "eef_pose_l": [
          467.9140298746753,
          329.87816187302803,
          78.15817315157622,
          1.7928033225536957,
          -0.0542465962911904,
          0.6283515495221816
        ],
        "eef_pose_r": [
          518.1879789639565,
          -308.46981302651494,
          2.805788421910023,
          1.5444301729321823,
          0.07669292262880305,
          2.456883843916357
        ],
        "joint_status_l": {
          "velocity": [
            0.5151896508635012,
            1.5673789062184973,
            -0.2981300547016952,
            -1.974873812139677,
            -1.0882012876416436,
            1.7544129193138858,
            1.01564326341963
          ],
          "torque": [
            -18.99169921875,
            12.83935546875,
            -18.121337890625,
            -4.1748046875,
            -4.7625732421875,
            0.8038330078125,
            0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4351911327598046,
            2.5675328332539493,
            0.28184754040938564,
            -0.8330650736088074,
            -3.962039953943508,
            5.773510607327559,
            6.764193567853738
          ],
          "torque": [
            37.3681640625,
            13.6376953125,
            14.90478515625,
            -4.8583984375,
            2.0562744140625,
            4.2425537109375,
            0.919189453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -7.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -7.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.9,
            -2.7,
            1.2,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.9,
            -2.7,
            1.2,
            0.3,
            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": 141,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33621693822244303,
          -0.4021510031674157,
          -0.10157090093506363,
          -1.3289727122057946,
          0.14143787436804103,
          -0.7296810538862961,
          0.17353359166582685
        ],
        "act_joint_pos_r": [
          -0.5651858285465283,
          -0.6806001774058754,
          0.16514854571648513,
          -0.8713001577222236,
          0.203734224694045,
          1.0602413076569803,
          -0.5677951975207616
        ],
        "act_eef_pose_l": [
          466.33348750798234,
          334.0678907697837,
          80.28363144788801,
          1.785922861434808,
          -0.06079328881467592,
          0.6441812399457182
        ],
        "act_eef_pose_r": [
          500.6870644042035,
          -320.8611481268787,
          14.780943346919912,
          1.5481061429500034,
          0.04435004505612608,
          2.528883004295464
        ],
        "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": [
          0.33298641813282187,
          -0.41454558561183846,
          -0.09933636429855028,
          -1.318486980320069,
          0.15357357208817934,
          -0.7409042858039806,
          0.16142056322308176
        ],
        "joint_pos_r": [
          -0.5785852536185357,
          -0.7197459333897969,
          0.16134163129988327,
          -0.8752237701078678,
          0.2605472367916937,
          0.975565070067331,
          -0.652388886629025
        ],
        "eef_pose_l": [
          467.5902927402575,
          330.50966502875656,
          78.49159712670195,
          1.7917118695307894,
          -0.05525125710046485,
          0.6309390314092517
        ],
        "eef_pose_r": [
          515.6681349907526,
          -309.9246368021486,
          4.535150847215107,
          1.5441064677622727,
          0.07144746201691964,
          2.467659912772261
        ],
        "joint_status_l": {
          "velocity": [
            0.3488858798399441,
            1.3385754248260717,
            -0.24132283930666798,
            -1.1324256445490732,
            -1.3106166992016277,
            1.2120732989187033,
            1.3081684894491463
          ],
          "torque": [
            -18.75732421875,
            13.0810546875,
            -17.840576171875,
            -4.010009765625,
            -5.0958251953125,
            0.9063720703125,
            0.56304931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4470952279852511,
            4.227616959366465,
            0.4111346312252184,
            0.4237376401761139,
            -6.13562434597914,
            9.144763949286094,
            9.13584897623032
          ],
          "torque": [
            39.32373046875,
            15.50537109375,
            15.789794921875,
            -1.898193359375,
            2.0672607421875,
            4.2572021484375,
            0.65460205078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.8,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -16.8,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -18.5,
            -1.9,
            1.2,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -18.5,
            -1.9,
            1.2,
            0.3,
            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": 127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33058408440774006,
          -0.411308310862855,
          -0.09960195394932773,
          -1.3097325502862973,
          0.13225648142924823,
          -0.7426392632558088,
          0.18547667779528149
        ],
        "act_joint_pos_r": [
          -0.5436811044962448,
          -0.6491738137459463,
          0.1694347165780503,
          -0.8899374676934394,
          0.17592474255410506,
          1.0639044730070248,
          -0.5495053807232303
        ],
        "act_eef_pose_l": [
          469.5998875079824,
          334.6926907697836,
          82.18523144788793,
          1.778367629368993,
          -0.06721576584638898,
          0.641448741442989
        ],
        "act_eef_pose_r": [
          497.8726644042035,
          -329.73074812687867,
          26.508143346919724,
          1.5577785667629078,
          0.0656879988897819,
          2.533214899778455
        ],
        "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": [
          0.3328818734416543,
          -0.41354131051671844,
          -0.09948153016359028,
          -1.3180396715478928,
          0.15054246567886906,
          -0.7405214797486944,
          0.16475958016567657
        ],
        "joint_pos_r": [
          -0.574243478888203,
          -0.7101847240342566,
          0.16239379512977883,
          -0.8764325103464061,
          0.2484413667795135,
          0.9898498061083181,
          -0.6366628783206403
        ],
        "eef_pose_l": [
          467.75505985611574,
          331.16149527208677,
          78.99913889518521,
          1.7899073827854997,
          -0.05688320125749394,
          0.6327842656488699
        ],
        "eef_pose_r": [
          513.0972490537848,
          -312.6283605611164,
          7.55929000711771,
          1.5447902738704327,
          0.06957474729888388,
          2.4780891756288455
        ],
        "joint_status_l": {
          "velocity": [
            -0.24815389675492128,
            0.2411568500759742,
            -0.01300538528625772,
            0.8971426364450252,
            -1.9748280545190955,
            -0.2287138732128824,
            2.2373805559852133
          ],
          "torque": [
            -26.7041015625,
            11.9091796875,
            -13.037109375,
            -0.567626953125,
            -5.137939453125,
            -1.0711669921875,
            0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.300639087185253,
            6.588983979443519,
            0.7603970896998824,
            -1.45849237754625,
            -7.831564436697969,
            7.99766814644709,
            9.412732126826029
          ],
          "torque": [
            39.06005859375,
            17.9296875,
            16.619873046875,
            -4.583740234375,
            2.142333984375,
            4.193115234375,
            0.904541015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.9,
            -8.9,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.9,
            -8.9,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -18.6,
            -1.5,
            1.2,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -18.6,
            -1.5,
            1.2,
            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": 127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3253176945577058,
          -0.4170966093822027,
          -0.09854659259667413,
          -1.303219168812866,
          0.12860046420571214,
          -0.7455041456445157,
          0.1896629066323535
        ],
        "act_joint_pos_r": [
          -0.5354211626171299,
          -0.6474898858226124,
          0.1690359638878266,
          -0.8741864532825058,
          0.18915311591604356,
          1.100968837557705,
          -0.5467460734203762
        ],
        "act_eef_pose_l": [
          471.64548750798235,
          333.76789076978366,
          84.21963144788793,
          1.7732103050154469,
          -0.07147831967071855,
          0.6397094347104992
        ],
        "act_eef_pose_r": [
          496.6742644042035,
          -332.81474812687867,
          34.66894334691983,
          1.5325761006550582,
          0.06669798696615623,
          2.5434650918885913
        ],
        "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": [
          0.3318813307236214,
          -0.41379966535223706,
          -0.09938373214665795,
          -1.3158359143162044,
          0.14689679462794597,
          -0.7412192030941345,
          0.1688949230759405
        ],
        "joint_pos_r": [
          -0.5685097548719577,
          -0.7000101893231333,
          0.16351704256210903,
          -0.8772998729564195,
          0.23765610215429406,
          1.0052073527481855,
          -0.6220976067141046
        ],
        "eef_pose_l": [
          468.3154189462221,
          331.67694550701077,
          79.78698315593454,
          1.787296956535189,
          -0.05918015197274062,
          0.6340855380049859
        ],
        "eef_pose_r": [
          510.70166016007033,
          -315.74196160589605,
          11.552794231206036,
          1.543816379328287,
          0.06937833160993487,
          2.4878936150391735
        ],
        "joint_status_l": {
          "velocity": [
            -0.7088517994526811,
            -0.356059453823665,
            0.09040840494489721,
            1.3625683275559908,
            -1.9759454082066696,
            -0.46276014705970425,
            2.2428760739987563
          ],
          "torque": [
            -29.23828125,
            5.20751953125,
            -11.029052734375,
            0.286865234375,
            -5.009765625,
            -1.2213134765625,
            0.47332763671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.573462569876895,
            5.672025490606636,
            0.5960259243324995,
            0.33623940793159335,
            -5.238168022223544,
            10.34193534034955,
            8.13772558633552
          ],
          "torque": [
            36.85546875,
            14.384765625,
            15.8935546875,
            -3.411865234375,
            2.2064208984375,
            4.647216796875,
            0.67474365234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.5,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.5,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.7,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.7,
            -0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32003240436354397,
          -0.42556565120155104,
          -0.09697040252475418,
          -1.2905573213386317,
          0.11678308862997862,
          -0.7524276314744504,
          0.20433736849393677
        ],
        "act_joint_pos_r": [
          -0.5020530527970526,
          -0.6401754478941615,
          0.16914211037626892,
          -0.8555460049772841,
          0.17686408056226632,
          1.1619632351666975,
          -0.5273391358420381
        ],
        "act_eef_pose_l": [
          474.62548750798237,
          333.1006907697836,
          86.83323144788784,
          1.7631257331636097,
          -0.07954613281864223,
          0.6375705202703528
        ],
        "act_eef_pose_r": [
          494.1142644042035,
          -336.29234812687866,
          53.42894334691982,
          1.5069260950131755,
          0.08767015244231312,
          2.5781334424404503
        ],
        "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": [
          0.33005476332585615,
          -0.4154498759625146,
          -0.09903708465777748,
          -1.312009499887811,
          0.14217260363601525,
          -0.742849326529951,
          0.17441617803949294
        ],
        "joint_pos_r": [
          -0.5584894323210153,
          -0.6892565227311093,
          0.1645723011985389,
          -0.8746078803807374,
          0.2271005098648646,
          1.0301926041558898,
          -0.6056634393291335
        ],
        "eef_pose_l": [
          469.28515160829585,
          331.95761967392156,
          80.88633945981869,
          1.783562861123086,
          -0.06233728862873564,
          0.6347444501723505
        ],
        "eef_pose_r": [
          508.1669666102928,
          -319.38386090750305,
          18.332626835807446,
          1.5372781112463818,
          0.07148607044863967,
          2.5018986422055747
        ],
        "joint_status_l": {
          "velocity": [
            -1.0823828447543704,
            -1.0924715050912859,
            0.22319508757928652,
            2.316766953923022,
            -2.7419867500757533,
            -1.0344264252291069,
            3.2313932642298315
          ],
          "torque": [
            -30.52001953125,
            3.662109375,
            -10.33935546875,
            -0.8544921875,
            -5.0482177734375,
            -2.0269775390625,
            0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.0949492276693995,
            5.300599749557655,
            0.493524835457837,
            2.058621827767837,
            -5.425374351817558,
            14.230808433907782,
            8.45877529836514
          ],
          "torque": [
            36.13037109375,
            12.978515625,
            16.229248046875,
            -1.422119140625,
            2.2467041015625,
            4.046630859375,
            0.99884033203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.6,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.6,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -18.5,
            -1.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -18.5,
            -1.6,
            1.1,
            0.3,
            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": 47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31651966633797163,
          -0.4371814582888136,
          -0.09480314862154238,
          -1.2687410135321258,
          0.11129661011084048,
          -0.7696757471110699,
          0.2110703717114181
        ],
        "act_joint_pos_r": [
          -0.4697686893138044,
          -0.6338691916524274,
          0.1696829156384118,
          -0.8501489870950161,
          0.1709689659299238,
          1.1946038655595277,
          -0.5250795809584949
        ],
        "act_eef_pose_l": [
          477.46708750798234,
          332.88869076978364,
          87.19483144788802,
          1.7585745869351104,
          -0.08106987837630585,
          0.6309807608159314
        ],
        "act_eef_pose_r": [
          493.7382644042035,
          -338.0299481268787,
          71.14574334691997,
          1.4853029625357648,
          0.11971609137028727,
          2.59703051044679
        ],
        "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": [
          0.3279644529774603,
          -0.4185767061843937,
          -0.0984242106961712,
          -1.3057335332198616,
          0.13730727033638399,
          -0.7465975923340697,
          0.18018358683086508
        ],
        "joint_pos_r": [
          -0.546711496449388,
          -0.6811790036760451,
          0.16531976708291193,
          -0.8711775658773034,
          0.218888507962347,
          1.0534413454066092,
          -0.5935494478237604
        ],
        "eef_pose_l": [
          470.52923479243856,
          332.1188701151033,
          81.88206440804959,
          1.7796888161535491,
          -0.06527687819210015,
          0.6343064119265196
        ],
        "eef_pose_r": [
          506.4859945263438,
          -322.1174369936854,
          25.74689202988253,
          1.5288886982639553,
          0.07717213530852435,
          2.514991060343573
        ],
        "joint_status_l": {
          "velocity": [
            -1.2360005031788468,
            -2.0092539674987364,
            0.39106317026826876,
            3.995074297858281,
            -2.809068455313257,
            -2.4923672074743664,
            3.3356743866426175
          ],
          "torque": [
            -30.34423828125,
            2.58544921875,
            -10.36376953125,
            -0.54931640625,
            -5.115966796875,
            -2.1533203125,
            0.6719970703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            8.309578092737802,
            5.109309007536922,
            0.4712061465115269,
            2.2710195283472956,
            -5.175157906378125,
            15.245102546249889,
            7.394527531516815
          ],
          "torque": [
            38.78173828125,
            13.3740234375,
            16.00341796875,
            -0.653076171875,
            2.2576904296875,
            4.6234130859375,
            0.60333251953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.7,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.7,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -18.5,
            -2.3,
            1.3,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -18.5,
            -2.3,
            1.3,
            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": -28,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31637754078383934,
          -0.4463004218425585,
          -0.09328663215505777,
          -1.2551001804151798,
          0.10363781655898675,
          -0.779893083969253,
          0.21899332695237747
        ],
        "act_joint_pos_r": [
          -0.4392862267940614,
          -0.6343086179996391,
          0.16826277869235817,
          -0.8195631206278987,
          0.14882541336936186,
          1.2184466057019139,
          -0.5235625671011306
        ],
        "act_eef_pose_l": [
          479.34388750798234,
          331.85109076978364,
          86.9172314478879,
          1.7536857428234822,
          -0.08094497984910894,
          0.6260655107873003
        ],
        "act_eef_pose_r": [
          497.0286644042035,
          -344.3459481268787,
          81.29054334691978,
          1.4905008462459113,
          0.15634091103485978,
          2.598843141636238
        ],
        "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": [
          0.32666473205538993,
          -0.42120601995254703,
          -0.09792747538210789,
          -1.3007665269739908,
          0.13392710315183232,
          -0.7497955237264449,
          0.18412934006734594
        ],
        "joint_pos_r": [
          -0.5287267258012736,
          -0.672285281109766,
          0.16598431167887165,
          -0.8637509892417621,
          0.2073311967173573,
          1.0828167780026539,
          -0.5804349200610832
        ],
        "eef_pose_l": [
          471.4269485571935,
          332.1476032128502,
          82.44279978381758,
          1.777075269155146,
          -0.06697741459026274,
          0.6335943961849985
        ],
        "eef_pose_r": [
          505.1054788163238,
          -325.8247054338822,
          35.88149773896083,
          1.5191106294668761,
          0.08962347768444374,
          2.5304727153559625
        ],
        "joint_status_l": {
          "velocity": [
            -1.1109838906091518,
            -2.710115473537833,
            0.5011962865271169,
            4.931819972098239,
            -3.2711464747191554,
            -3.2504406396007823,
            3.7651995349590184
          ],
          "torque": [
            -30.234375,
            0.37353515625,
            -10.113525390625,
            2.11181640625,
            -5.496826171875,
            -2.2650146484375,
            0.53924560546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            9.659289007278193,
            4.101358652786047,
            0.24606718009301254,
            4.772149063284381,
            -6.3184382492087465,
            14.647589383963044,
            6.142032970095634
          ],
          "torque": [
            35.55908203125,
            14.4140625,
            15.380859375,
            -0.555419921875,
            2.14599609375,
            4.27001953125,
            0.8074951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.9,
            -6.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -16.9,
            -6.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.7,
            -1.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.7,
            -1.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -286,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3173249900454907,
          -0.4473120699256786,
          -0.09313910683044109,
          -1.2534407393039917,
          0.09972143102318308,
          -0.7817883746792453,
          0.22221019518014412
        ],
        "act_joint_pos_r": [
          -0.43184435484405714,
          -0.6377194910319322,
          0.16690211571154737,
          -0.798213887895376,
          0.15343707457368305,
          1.2277002877417584,
          -0.5319853562671337
        ],
        "act_eef_pose_l": [
          479.4270875079824,
          331.66629076978364,
          86.87483144788786,
          1.7514658953014501,
          -0.08029334575758584,
          0.6253260477260085
        ],
        "act_eef_pose_r": [
          499.8046644042035,
          -348.7827481268787,
          84.27214334691985,
          1.485552375454424,
          0.1701603936304962,
          2.5876984948838135
        ],
        "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": [
          0.3248014439588846,
          -0.42603667865077527,
          -0.09703751359492394,
          -1.2919913716845888,
          0.12786494275346366,
          -0.7556478572713913,
          0.19099620980199675
        ],
        "joint_pos_r": [
          -0.5119750561736631,
          -0.6660005318774483,
          0.16621569071727577,
          -0.8532477356260546,
          0.19756805182574486,
          1.1079634366737707,
          -0.5714408642823904
        ],
        "eef_pose_l": [
          472.93854525634106,
          332.07934453404414,
          83.24880242559325,
          1.772556399452946,
          -0.0694326631792797,
          0.6320243969929583
        ],
        "eef_pose_r": [
          504.5648043992004,
          -329.66074876091466,
          44.556555261103995,
          1.511916899590337,
          0.1035323930123117,
          2.5411091833647683
        ],
        "joint_status_l": {
          "velocity": [
            -0.8074332086769331,
            -2.2976744914022795,
            0.4210155133753668,
            4.1633455057930036,
            -3.039409624275291,
            -2.823092617381562,
            3.3710109981850422
          ],
          "torque": [
            -31.2451171875,
            4.31396484375,
            -10.174560546875,
            0.18310546875,
            -5.068359375,
            -1.929931640625,
            0.6756591796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            8.653860511624867,
            3.0542623306635264,
            0.07413171298331633,
            5.943480261333178,
            -4.766004977419636,
            12.931198530028887,
            4.261069192129874
          ],
          "torque": [
            34.54833984375,
            14.1650390625,
            15.057373046875,
            -0.28076171875,
            2.2705078125,
            4.0484619140625,
            0.6829833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.4,
            -3.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.4,
            -3.0,
            1.0,
            0.2,
            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": [
          0.32022822694245445,
          -0.4482755620234219,
          -0.09309332331703576,
          -1.2549510847274516,
          0.09051003456215909,
          -0.7792098173865961,
          0.22959185860649178
        ],
        "act_joint_pos_r": [
          -0.43900933037545053,
          -0.6117446034511963,
          0.1728432411808441,
          -0.8598471758449662,
          0.1965627110440149,
          1.1432495161149203,
          -0.583635351946332
        ],
        "act_eef_pose_l": [
          479.55588750798233,
          330.90149076978366,
          86.73003144788782,
          1.7466093911925469,
          -0.0791132547589791,
          0.6266075385497472
        ],
        "act_eef_pose_r": [
          504.24386440420346,
          -352.5107481268787,
          89.88974334691989,
          1.4679623549157452,
          0.1942254035411801,
          2.52205322118718
        ],
        "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": [
          0.32359744540605057,
          -0.4301279859382454,
          -0.09629726909579785,
          -1.28481277128928,
          0.12188061771006993,
          -0.7604034658378391,
          0.19742904126395833
        ],
        "joint_pos_r": [
          -0.49773032496728203,
          -0.6573809666005562,
          0.16709416132363794,
          -0.85061143055142,
          0.19466042752928406,
          1.1199555100433083,
          -0.5704913314145094
        ],
        "eef_pose_l": [
          474.1777244057961,
          331.9457177099014,
          83.89841247698223,
          1.7682939381317626,
          -0.07129954989572124,
          0.6307747004190902
        ],
        "eef_pose_r": [
          504.61661257300557,
          -333.7907594333259,
          52.8578776277262,
          1.504453753950234,
          0.11931738358947283,
          2.5418879147949345
        ],
        "joint_status_l": {
          "velocity": [
            -0.3638648624484375,
            -1.9598804136160553,
            0.3460159389118145,
            3.224967033361281,
            -3.3879230585249775,
            -2.0310260653539913,
            3.473481828123237
          ],
          "torque": [
            -31.4208984375,
            4.22607421875,
            -10.29052734375,
            -0.0244140625,
            -5.16357421875,
            -2.2283935546875,
            0.7379150390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.341680378053383,
            4.9285818593798325,
            0.6208823126332419,
            -0.9974310740448189,
            0.205440560445469,
            2.5156784597637483,
            -1.419512351157337
          ],
          "torque": [
            34.53369140625,
            15.029296875,
            16.253662109375,
            -4.04052734375,
            4.2498779296875,
            3.45703125,
            -0.4833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.9,
            -6.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.9,
            -6.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -17.4,
            -3.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.4,
            -3.0,
            1.1,
            0.4,
            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": -110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3249469313141739,
          -0.44869598557932344,
          -0.0930285146458324,
          -1.2534788930492888,
          0.07728991410421394,
          -0.7781647804726806,
          0.24118054577091522
        ],
        "act_joint_pos_r": [
          -0.44713420223802913,
          -0.5835176500954866,
          0.18048017349563594,
          -0.9362806262998693,
          0.22862821213940565,
          0.9976792510195618,
          -0.6404777488668814
        ],
        "act_eef_pose_l": [
          479.8190875079824,
          331.2630907697836,
          86.14603144788799,
          1.740659809786908,
          -0.07803913273143505,
          0.6301559103367541
        ],
        "act_eef_pose_r": [
          514.2862644042035,
          -358.77154812687866,
          89.42414334691989,
          1.484669445622725,
          0.21849536092409785,
          2.4227855196971504
        ],
        "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": [
          0.3232507449745698,
          -0.43312982227948654,
          -0.09576770980837326,
          -1.2798390100079222,
          0.1161429865046681,
          -0.7634492580629495,
          0.20322528100493437
        ],
        "joint_pos_r": [
          -0.4888850093402415,
          -0.6470709616919645,
          0.1687988922618586,
          -0.8597322126565714,
          0.19816255563733493,
          1.109305760063766,
          -0.5783059876286802
        ],
        "eef_pose_l": [
          475.072302482948,
          331.78482386302164,
          84.32320498083752,
          1.7645213602524366,
          -0.07246362190221174,
          0.6301702696050416
        ],
        "eef_pose_r": [
          505.86543311203485,
          -337.49056434719563,
          58.88025202224881,
          1.5004537937123688,
          0.1344388074471012,
          2.52893862501143
        ],
        "joint_status_l": {
          "velocity": [
            0.1831827219911375,
            -1.6810960551043586,
            0.29582435268160623,
            2.846808669399792,
            -4.196008064606405,
            -1.5892295484309926,
            4.099047699776204
          ],
          "torque": [
            -29.8828125,
            3.0322265625,
            -9.50927734375,
            0.78125,
            -4.8248291015625,
            -1.8603515625,
            0.57586669921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.508954182544045,
            6.863555222679452,
            1.2615411660801268,
            -8.266984851791115,
            3.2901938631426653,
            -12.055307424487793,
            -6.714352184493677
          ],
          "torque": [
            35.9326171875,
            16.8017578125,
            15.91796875,
            -4.21142578125,
            5.3558349609375,
            0.4815673828125,
            -0.87249755859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.4,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.4,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -16.2,
            -3.4,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.2,
            -3.4,
            0.9,
            0.5,
            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": -99,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3269405347725731,
          -0.449716291750122,
          -0.09287131069460812,
          -1.251720294501026,
          0.07195680802764222,
          -0.7772197515033787,
          0.24786897627946622
        ],
        "act_joint_pos_r": [
          -0.45674260183554605,
          -0.5790100265950159,
          0.1823074761960795,
          -0.9560850206205957,
          0.2796921970381621,
          0.9021899782782759,
          -0.6747964672080464
        ],
        "act_eef_pose_l": [
          480.27908750798235,
          331.4702907697837,
          85.69803144788813,
          1.7385917975415792,
          -0.07950742046435076,
          0.6320750581404062
        ],
        "act_eef_pose_r": [
          525.6846644042034,
          -368.47394812687867,
          86.15534334691984,
          1.4891397637958614,
          0.20687229579657843,
          2.3339854286762347
        ],
        "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": [
          0.3237426094302933,
          -0.4361600341933118,
          -0.09523639875955345,
          -1.274704931748236,
          0.1083402767916098,
          -0.7661498728118236,
          0.2109746749876025
        ],
        "joint_pos_r": [
          -0.4822034257286389,
          -0.634488970851498,
          0.17123736736914033,
          -0.876698484947994,
          0.21035686538992893,
          1.0761704887759842,
          -0.5943836595717584
        ],
        "eef_pose_l": [
          476.0042977703279,
          331.69192115772256,
          84.61806123016896,
          1.7598836034648728,
          -0.0735672269357466,
          0.6302223695830216
        ],
        "eef_pose_r": [
          509.3827198028814,
          -342.545110915941,
          64.32550197593827,
          1.4977477695865786,
          0.15015711406068494,
          2.49737533443014
        ],
        "joint_status_l": {
          "velocity": [
            0.3453657509475683,
            -1.4640326368011713,
            0.2554219777456401,
            2.482267612130329,
            -3.929298738036935,
            -1.1955116389561482,
            3.9844670239479463
          ],
          "torque": [
            -21.767578125,
            4.74609375,
            -9.21630859375,
            0.87890625,
            -4.991455078125,
            -1.8035888671875,
            0.677490234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.7496878827451,
            5.991549268401286,
            1.1955364928453172,
            -8.573492990981535,
            7.487994971402623,
            -18.78934097176277,
            -8.684327094182542
          ],
          "torque": [
            34.16748046875,
            15.68115234375,
            14.996337890625,
            -5.877685546875,
            5.701904296875,
            0.88623046875,
            -0.7965087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.1,
            -6.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.1,
            -6.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.1,
            -2.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.1,
            -2.0,
            1.0,
            0.3,
            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": -133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3306253002374405,
          -0.44642425747841685,
          -0.09334049915400038,
          -1.2531734976334745,
          0.06936227360715971,
          -0.7711922029926506,
          0.25003765225806907
        ],
        "act_joint_pos_r": [
          -0.4557946524360256,
          -0.5925489646015717,
          0.1798882397774254,
          -0.9433462469333689,
          0.31442775379529886,
          0.8566145577078165,
          -0.7237698152240459
        ],
        "act_eef_pose_l": [
          480.26548750798236,
          333.34309076978366,
          84.46843144788801,
          1.7401626332576081,
          -0.07860535816413876,
          0.6398285422751961
        ],
        "act_eef_pose_r": [
          536.1806644042034,
          -373.5627481268787,
          84.46814334691999,
          1.4871707165704144,
          0.22701663232145802,
          2.279442700845698
        ],
        "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": [
          0.32448245437222606,
          -0.43819732030905495,
          -0.09487485375230702,
          -1.271010809899805,
          0.10220823636988846,
          -0.7676194496928882,
          0.2171659473519531
        ],
        "joint_pos_r": [
          -0.4785958992967365,
          -0.6277533104661972,
          0.1726017348434664,
          -0.8868151093784222,
          0.22249930609985408,
          1.0487002891180488,
          -0.6090924926480655
        ],
        "eef_pose_l": [
          476.70294526794885,
          331.7541199468275,
          84.72044896650539,
          1.7564937808703611,
          -0.07444762532579713,
          0.6308979454323337
        ],
        "eef_pose_r": [
          512.8052747645346,
          -346.28542807470893,
          67.39878850932035,
          1.4956539783907206,
          0.16075708638671696,
          2.470265007031278
        ],
        "joint_status_l": {
          "velocity": [
            0.6634077872762489,
            -0.8884830098851992,
            0.16570540939730982,
            1.9263729094323168,
            -3.5472593575524014,
            -0.38584597645474616,
            3.55003942704446
          ],
          "torque": [
            -20.80810546875,
            3.90380859375,
            -9.43603515625,
            -0.762939453125,
            -5.0848388671875,
            -1.834716796875,
            0.714111328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.4624620345217174,
            3.801957220646024,
            0.786919323922719,
            -6.105182793191943,
            9.927979541003218,
            -20.74464716164215,
            -12.384785568480439
          ],
          "torque": [
            34.86328125,
            11.7919921875,
            15.411376953125,
            -5.523681640625,
            6.0040283203125,
            -0.245361328125,
            -1.607666015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.8,
            -7.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.8,
            -7.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.5,
            -4.3,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.5,
            -4.3,
            1.0,
            0.5,
            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": -154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33220130688554006,
          -0.4439376934589802,
          -0.09371655876432161,
          -1.2551006859614975,
          0.07009114050527114,
          -0.7690987730453931,
          0.24811645548896538
        ],
        "act_joint_pos_r": [
          -0.4529324624022393,
          -0.5935215443419243,
          0.18013680433448767,
          -0.9496420622436617,
          0.3243642173918495,
          0.8224896389849489,
          -0.7485079658246258
        ],
        "act_eef_pose_l": [
          479.7942875079824,
          334.1654907697837,
          83.89083144788793,
          1.7418515500272331,
          -0.07673289280604927,
          0.6424186557261854
        ],
        "act_eef_pose_r": [
          540.5846644042035,
          -375.7483481268787,
          84.50894334691975,
          1.4925066540114842,
          0.24311958055183489,
          2.2526629931951225
        ],
        "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": [
          0.3258422910749557,
          -0.4394391554149018,
          -0.09463219551845094,
          -1.2678817640720497,
          0.09609098456793506,
          -0.7680310149052538,
          0.22313780591635018
        ],
        "joint_pos_r": [
          -0.4748500937456568,
          -0.6225062015826506,
          0.17373251401406936,
          -0.8960224728386155,
          0.23744192513384352,
          1.0161483769469042,
          -0.6289605319115519
        ],
        "eef_pose_l": [
          477.3152542695348,
          332.1471151158438,
          84.60247325533734,
          1.7536102154755466,
          -0.07497488195320014,
          0.6328528903366518
        ],
        "eef_pose_r": [
          517.2673477965113,
          -350.3437149048462,
          70.24373358910634,
          1.4936799573629271,
          0.17390927768201125,
          2.437911929591842
        ],
        "joint_status_l": {
          "velocity": [
            0.6867534528325336,
            -0.485827780035919,
            0.09888585296369268,
            1.3803157257044063,
            -2.807900344173886,
            -0.11531447811563567,
            2.697614591952835
          ],
          "torque": [
            -20.2880859375,
            3.310546875,
            -9.3017578125,
            0.68359375,
            -4.8760986328125,
            -2.0489501953125,
            0.6317138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3670343731421184,
            3.130250660190015,
            0.6916429556866888,
            -5.790744866854602,
            9.387330699345275,
            -20.914526858893723,
            -12.910742080627813
          ],
          "torque": [
            36.55517578125,
            12.39990234375,
            16.0888671875,
            -4.901123046875,
            5.9124755859375,
            0.5712890625,
            -0.6884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.9,
            -6.7,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -15.9,
            -6.7,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.3,
            -2.6,
            1.0,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            0.2,
            -17.3,
            -2.6,
            1.0,
            0.4,
            -0.1
          ]
        },
        "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": -139,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33670666392980403,
          -0.438768466871603,
          -0.09449052148673406,
          -1.2587581545521416,
          0.06654608411104451,
          -0.7676117805511994,
          0.2487072859354652
        ],
        "act_joint_pos_r": [
          -0.4511250933045576,
          -0.6086912168000502,
          0.17713676126255978,
          -0.9303822543462623,
          0.3508941150079626,
          0.805338381521495,
          -0.768441107238999
        ],
        "act_eef_pose_l": [
          478.4286875079824,
          335.6126907697837,
          82.87563144788788,
          1.7422479803796065,
          -0.07251983664642576,
          0.6460310320638021
        ],
        "act_eef_pose_r": [
          547.7958644042035,
          -378.3547481268787,
          83.64254334691987,
          1.4864459192746808,
          0.241630362806979,
          2.222827344705552
        ],
        "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": [
          0.32739608082669264,
          -0.439595383967109,
          -0.09456900524505081,
          -1.2661933335195443,
          0.09141669728676172,
          -0.7680387529325117,
          0.2273108503892343
        ],
        "joint_pos_r": [
          -0.4710917099231267,
          -0.6190441194498467,
          0.17452768820037826,
          -0.9031831381360886,
          0.25401008763568744,
          0.9828387331175266,
          -0.6503255474784025
        ],
        "eef_pose_l": [
          477.56806032752684,
          332.6335703277756,
          84.37315374274314,
          1.751705576612496,
          -0.07477467519906578,
          0.6347971479230053
        ],
        "eef_pose_r": [
          522.1851799157391,
          -354.4523890478774,
          72.80453003056121,
          1.4915207986232273,
          0.18663728614564215,
          2.404084323074968
        ],
        "joint_status_l": {
          "velocity": [
            1.0055133191060328,
            0.0893044124219422,
            0.008475995912138323,
            0.8029756459801973,
            -2.6859470052050805,
            0.0461116571912612,
            2.3107468871563785
          ],
          "torque": [
            -19.68017578125,
            9.04541015625,
            -13.61083984375,
            0.335693359375,
            -4.764404296875,
            -1.036376953125,
            0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.1563309972223443,
            1.118080510156716,
            0.28177158030695537,
            -2.9374179161880676,
            10.463166361609488,
            -19.169472598999704,
            -12.756104232960475
          ],
          "torque": [
            36.62841796875,
            11.572265625,
            16.2353515625,
            -5.328369140625,
            6.009521484375,
            0.21240234375,
            -1.12884521484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.8,
            -6.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.8,
            -6.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -17.1,
            -2.6,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -17.1,
            -2.6,
            1.0,
            0.5,
            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": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3411785132187794,
          -0.4337885070156154,
          -0.09542358523225371,
          -1.2689751385057746,
          0.06171480666082057,
          -0.7592740536385227,
          0.25047592906343447
        ],
        "act_joint_pos_r": [
          -0.4529943206489193,
          -0.6242016778005262,
          0.17388461685142803,
          -0.9036584823188205,
          0.3750791233853632,
          0.7861896629962158,
          -0.7908204887669176
        ],
        "act_eef_pose_l": [
          477.0310875079824,
          335.48789076978363,
          82.27083144788782,
          1.741362963994769,
          -0.06901012641384933,
          0.6499975406249123
        ],
        "act_eef_pose_r": [
          555.2342644042035,
          -383.7195481268787,
          79.4417433469198,
          1.4889766976724093,
          0.24304653126493625,
          2.1872320839201316
        ],
        "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": [
          0.32960582031723407,
          -0.4388215949828641,
          -0.09467271495171903,
          -1.2661662932274487,
          0.08641051791255228,
          -0.7669125259674842,
          0.23131680751644182
        ],
        "joint_pos_r": [
          -0.46842487407529554,
          -0.6185063254833874,
          0.174701380557471,
          -0.9054110341423879,
          0.2688828215113216,
          0.9570525981214355,
          -0.6680446424207513
        ],
        "eef_pose_l": [
          477.5438789323576,
          333.13543126615696,
          84.03644240093175,
          1.7498800617313788,
          -0.0739352308914837,
          0.6372516392670667
        ],
        "eef_pose_r": [
          526.5530326247818,
          -357.846813971379,
          74.34065995532958,
          1.4895685573676678,
          0.19551801068671987,
          2.3760945709363646
        ],
        "joint_status_l": {
          "velocity": [
            1.249813972074243,
            0.5435574690926259,
            -0.08109159862879078,
            -0.3033463433368411,
            -2.6670581545115146,
            0.8249306814986923,
            2.0691241015218242
          ],
          "torque": [
            -18.69873046875,
            9.90966796875,
            -16.204833984375,
            -2.9541015625,
            -4.85595703125,
            -0.0439453125,
            0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.6664506207146879,
            -0.6150799094379877,
            -0.08820787870056357,
            0.18927001472501814,
            11.468862346382558,
            -18.452652761621557,
            -13.259400340277061
          ],
          "torque": [
            35.31005859375,
            6.58447265625,
            11.981201171875,
            -0.946044921875,
            6.529541015625,
            0.1556396484375,
            -0.7635498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -15.9,
            -6.9,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -15.9,
            -6.9,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.5,
            -16.2,
            -3.5,
            1.0,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            1.5,
            -16.2,
            -3.5,
            1.0,
            0.4,
            -0.1
          ]
        },
        "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": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3465140562864192,
          -0.42849202940859893,
          -0.09639652260212041,
          -1.2781297836738537,
          0.054838512102785085,
          -0.7518086205295831,
          0.25508793118633155
        ],
        "act_joint_pos_r": [
          -0.4605679487632779,
          -0.6322164229935153,
          0.17263712123512806,
          -0.8983232990388517,
          0.40820234783166315,
          0.7432113124213238,
          -0.8261725234122506
        ],
        "act_eef_pose_l": [
          475.60148750798237,
          335.78229076978363,
          81.52603144788787,
          1.7398566830519115,
          -0.06624217192110164,
          0.6545251161126727
        ],
        "act_eef_pose_r": [
          561.4278644042034,
          -389.1795481268787,
          73.07614334691993,
          1.4996014788031293,
          0.24478915489941025,
          2.1429804206585605
        ],
        "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": [
          0.3321807113554832,
          -0.43732670759356856,
          -0.09491876576155645,
          -1.2677817383910035,
          0.08148409571140323,
          -0.764715990044132,
          0.2350476901713738
        ],
        "joint_pos_r": [
          -0.46624269433492316,
          -0.6200911887963216,
          0.17446702325249,
          -0.9047164922030329,
          0.290047462873259,
          0.92374378052331,
          -0.6923013877418587
        ],
        "eef_pose_l": [
          477.280368735288,
          333.55048561926844,
          83.6577935970474,
          1.7482219430623442,
          -0.07279373829797434,
          0.6398879696458851
        ],
        "eef_pose_r": [
          532.5911864660943,
          -362.50470871662736,
          75.22557364424443,
          1.487953847211383,
          0.20535258149091867,
          2.338329812559852
        ],
        "joint_status_l": {
          "velocity": [
            1.5479555980308923,
            0.9541171037974472,
            -0.15959303183599172,
            -1.1175559299978488,
            -2.877638158329976,
            1.3939547950725384,
            2.164282197523848
          ],
          "torque": [
            -20.185546875,
            11.02294921875,
            -16.5771484375,
            -3.52783203125,
            -4.92919921875,
            0.1318359375,
            0.51544189453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6128544465622277,
            -1.3094866720511078,
            -0.19762358927888357,
            0.6904444981596924,
            12.760351229065492,
            -19.496931523757866,
            -14.457656246624317
          ],
          "torque": [
            35.3466796875,
            7.44873046875,
            10.3271484375,
            -0.714111328125,
            5.7421875,
            0.150146484375,
            -1.27166748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.5,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.5,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.2,
            -16.0,
            -4.7,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.2,
            -16.0,
            -4.7,
            1.0,
            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": -183,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3521970739777878,
          -0.4243596416838915,
          -0.09718854153925505,
          -1.285730235864057,
          0.04814002833957624,
          -0.745643691836344,
          0.25964086653158114
        ],
        "act_joint_pos_r": [
          -0.4709361710425446,
          -0.6379496457784233,
          0.17224858798480736,
          -0.9056318786488455,
          0.45423381858006096,
          0.6783118918945855,
          -0.8955117454496218
        ],
        "act_eef_pose_l": [
          474.28868750798233,
          335.89109076978366,
          80.4308314478879,
          1.7387337497227244,
          -0.06287986148419313,
          0.6581368441627939
        ],
        "act_eef_pose_r": [
          567.7814644042035,
          -395.06194812687863,
          64.6953433469198,
          1.5179902259588798,
          0.26594573597305066,
          2.0873532506458723
        ],
        "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": [
          0.3351023089232165,
          -0.4354632989189536,
          -0.09524048041857058,
          -1.270238889294086,
          0.07643741998666455,
          -0.7619808828090121,
          0.23879507097040162
        ],
        "joint_pos_r": [
          -0.4662042245743523,
          -0.623320236459132,
          0.17403349850592573,
          -0.9041797687702443,
          0.32040312005298527,
          0.8779755705613531,
          -0.7286339666646867
        ],
        "eef_pose_l": [
          476.87595230487767,
          333.91978488223594,
          83.20383527401333,
          1.7466514152202555,
          -0.07140637954576616,
          0.6426237437488724
        ],
        "eef_pose_r": [
          540.2478320352196,
          -368.4904980189829,
          74.64888683511589,
          1.488254832070455,
          0.21759620730066126,
          2.2880698849011702
        ],
        "joint_status_l": {
          "velocity": [
            1.8461801757201357,
            1.1991596140643601,
            -0.21038439607778958,
            -1.6730160865847665,
            -3.0560281651528243,
            1.7643645878964165,
            2.2512795226670157
          ],
          "torque": [
            -18.91845703125,
            12.7001953125,
            -16.790771484375,
            -4.18701171875,
            -5.064697265625,
            0.010986328125,
            0.50262451171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5110351463888385,
            -1.579929608950259,
            -0.19276465099138385,
            -0.15682324163446282,
            14.453289163946614,
            -21.563041328102273,
            -18.022268570374145
          ],
          "torque": [
            27.01171875,
            4.35791015625,
            9.8876953125,
            -3.704833984375,
            5.3173828125,
            0.93017578125,
            -0.85235595703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.3,
            -4.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -4.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -16.0,
            -3.3,
            0.9,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.0,
            -3.3,
            0.9,
            0.3,
            -0.1
          ]
        },
        "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": -164,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35468570546223005,
          -0.42258845470671363,
          -0.09755959033356085,
          -1.289806333519543,
          0.04329551624601206,
          -0.7417771208588566,
          0.2624721177824133
        ],
        "act_joint_pos_r": [
          -0.4830329205552042,
          -0.6596938624812674,
          0.16832421713274237,
          -0.8733765193793979,
          0.498761785223492,
          0.6569595971711334,
          -0.9385788423048598
        ],
        "act_eef_pose_l": [
          473.8286875079824,
          335.80229076978367,
          80.21403144788798,
          1.7370259256725729,
          -0.06098413133965541,
          0.6605223159014939
        ],
        "act_eef_pose_r": [
          574.5966644042035,
          -400.83794812687864,
          54.19374334691997,
          1.526870359903757,
          0.2660233120751612,
          2.0458328016600107
        ],
        "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": [
          0.3384384287120668,
          -0.43327687094814943,
          -0.095631674208046,
          -1.2734915664269362,
          0.07082368951736838,
          -0.758605058186408,
          0.24283758201879493
        ],
        "joint_pos_r": [
          -0.46767274938287295,
          -0.6267316557799897,
          0.1735256070176386,
          -0.9020370983467657,
          0.3404792386752485,
          0.8512740732390053,
          -0.752769403805062
        ],
        "eef_pose_l": [
          476.3635598766827,
          334.2480798871079,
          82.69267200843251,
          1.744935900535546,
          -0.06969306354880032,
          0.6456356208711173
        ],
        "eef_pose_r": [
          544.7855672580741,
          -372.0620070922312,
          73.28534257195943,
          1.4893245136599875,
          0.22440168158722437,
          2.2579151528051993
        ],
        "joint_status_l": {
          "velocity": [
            1.7546541382595926,
            1.1543149093764526,
            -0.20820880076521942,
            -1.761942880273537,
            -2.972955030684843,
            1.8173636311002994,
            2.1204673226298265
          ],
          "torque": [
            -19.60693359375,
            11.54296875,
            -17.12646484375,
            -4.534912109375,
            -4.962158203125,
            0.0439453125,
            0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6588495614593413,
            -3.559813332655537,
            -0.5617335401235657,
            3.0952512389204045,
            17.094010866308906,
            -20.98534448567957,
            -20.06682751853628
          ],
          "torque": [
            24.66796875,
            5.38330078125,
            9.89990234375,
            0.59814453125,
            5.7586669921875,
            0.0,
            -1.41357421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.3,
            -5.0,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.3,
            -5.0,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            3.8,
            -15.6,
            -5.7,
            0.9,
            0.7,
            -0.1
          ],
          "actual_contact_FT": [
            3.8,
            -15.6,
            -5.7,
            0.9,
            0.7,
            -0.1
          ]
        },
        "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": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35586937480819436,
          -0.42169083017709286,
          -0.09772560457349336,
          -1.2907820651371398,
          0.04108366025302632,
          -0.7412823924061522,
          0.2644547604841845
        ],
        "act_joint_pos_r": [
          -0.4811855473700084,
          -0.6679015081637981,
          0.16665404936914968,
          -0.85432807101476,
          0.4710054281357072,
          0.6432365791176208,
          -0.9256549344677308
        ],
        "act_eef_pose_l": [
          473.5678875079824,
          335.95989076978367,
          80.08843144788813,
          1.7362694303146862,
          -0.06068577049547546,
          0.6612079875536243
        ],
        "act_eef_pose_r": [
          577.5422644042035,
          -403.47234812687867,
          48.27694334692001,
          1.5523265114337235,
          0.2779061036279491,
          2.0418050507724583
        ],
        "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": [
          0.34124297382849367,
          -0.431418454679257,
          -0.09596734814343282,
          -1.2762837423605649,
          0.06604859413925257,
          -0.7557827972145686,
          0.2462891351291501
        ],
        "joint_pos_r": [
          -0.47009053942958723,
          -0.632627433364186,
          0.17257346968816625,
          -0.8962185315850402,
          0.3648872351988769,
          0.8185322379630686,
          -0.782564603429142
        ],
        "eef_pose_l": [
          475.9196000217743,
          334.514432909315,
          82.27589757983074,
          1.7434728190483637,
          -0.06825348532283622,
          0.6481355281672645
        ],
        "eef_pose_r": [
          550.5650386919814,
          -376.74658377263205,
          70.52153158814511,
          1.4932802284296003,
          0.23232327018981586,
          2.220535783980175
        ],
        "joint_status_l": {
          "velocity": [
            1.5796047178566752,
            1.0505524618453776,
            -0.1898860940554581,
            -1.565772679873234,
            -2.6961333415100874,
            1.5659975326807185,
            1.9618296772700994
          ],
          "torque": [
            -18.8525390625,
            10.37109375,
            -17.584228515625,
            -4.498291015625,
            -5.00244140625,
            -0.0421142578125,
            0.57861328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1982255177929169,
            -3.809487723523297,
            -0.6392785399411682,
            4.524036312272273,
            11.46042682995585,
            -18.931372804313895,
            -15.453299981447621
          ],
          "torque": [
            25.37109375,
            3.076171875,
            9.271240234375,
            2.667236328125,
            3.9697265625,
            0.7470703125,
            -0.6591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.5,
            -7.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -16.5,
            -7.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.3,
            -1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -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": -141,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3591383078824585,
          -0.417138677769203,
          -0.09853451440733328,
          -1.295581461702064,
          0.03675316251600082,
          -0.7389123203072158,
          0.2690768634548437
        ],
        "act_joint_pos_r": [
          -0.4886787769573568,
          -0.6920544988315506,
          0.16246038580982294,
          -0.8106478801174634,
          0.46911485425328264,
          0.6479556273574605,
          -0.9239809962350426
        ],
        "act_eef_pose_l": [
          472.38468750798233,
          336.7942907697837,
          79.81803144788779,
          1.7353637365993815,
          -0.06076036579865811,
          0.663659461717981
        ],
        "act_eef_pose_r": [
          582.0382644042035,
          -405.3771481268787,
          37.88094334691982,
          1.5673963118468721,
          0.27648406936729875,
          2.0322677707293146
        ],
        "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": [
          0.3442410010432579,
          -0.42912485882640444,
          -0.09638016286777522,
          -1.2794519959086224,
          0.061088847189590983,
          -0.7529203231852712,
          0.25008345576093727
        ],
        "joint_pos_r": [
          -0.4728314697788899,
          -0.641369941769855,
          0.17109430336624995,
          -0.8845481705834536,
          0.3847851348660824,
          0.7858001581519966,
          -0.8094702140285569
        ],
        "eef_pose_l": [
          475.3569345786522,
          334.86953441587633,
          81.85804345470916,
          1.742008159613352,
          -0.06694735268954045,
          0.6507305821208397
        ],
        "eef_pose_r": [
          556.7589337940274,
          -381.80391305228164,
          65.92429082105417,
          1.5030943519287456,
          0.2404221308931384,
          2.1838831891983097
        ],
        "joint_status_l": {
          "velocity": [
            1.608861687794505,
            1.2944693758445425,
            -0.23266310424074899,
            -1.7419309301853758,
            -2.628176430827356,
            1.5128196925981996,
            2.051227533219624
          ],
          "torque": [
            -19.27001953125,
            11.8212890625,
            -17.49267578125,
            -3.900146484375,
            -4.998779296875,
            0.340576171875,
            0.55755615234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7114586984980917,
            -5.473770722424831,
            -0.9324355953763686,
            7.980995983433381,
            9.107341087149834,
            -14.88677026399099,
            -12.366799739038647
          ],
          "torque": [
            23.408203125,
            4.19677734375,
            8.85009765625,
            0.323486328125,
            4.801025390625,
            0.146484375,
            -0.7855224609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.7,
            -6.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.7,
            -6.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.7,
            -15.6,
            -4.0,
            0.8,
            0.7,
            -0.1
          ],
          "actual_contact_FT": [
            2.7,
            -15.6,
            -4.0,
            0.8,
            0.7,
            -0.1
          ]
        },
        "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": -122,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.361409612125547,
          -0.4117636953374816,
          -0.09949079911809891,
          -1.3003610831302008,
          0.03264466911916828,
          -0.7403792115202081,
          0.2758995994123211
        ],
        "act_joint_pos_r": [
          -0.4994565739171426,
          -0.7028744594158078,
          0.16175867631047794,
          -0.8169478093000224,
          0.49433608818545727,
          0.6248665489938292,
          -0.9515578153095051
        ],
        "act_eef_pose_l": [
          470.68708750798237,
          337.5406907697836,
          80.242031447888,
          1.7333335592513912,
          -0.06360156656896584,
          0.6628843828113838
        ],
        "act_eef_pose_r": [
          583.7494644042035,
          -401.2947481268787,
          30.384143346919927,
          1.5766137320725304,
          0.27282197729109425,
          2.022941627106099
        ],
        "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": [
          0.346915964548483,
          -0.4266197628426569,
          -0.0968294452663699,
          -1.2825790108770652,
          0.05667952199421681,
          -0.7507633774730333,
          0.25388450822233377
        ],
        "joint_pos_r": [
          -0.476410504922335,
          -0.651111535639942,
          0.16951715967518738,
          -0.8719362138601754,
          0.4015138332792934,
          0.7597633233284024,
          -0.8317050198875562
        ],
        "eef_pose_l": [
          474.7006755919544,
          335.25750417751703,
          81.5639803045753,
          1.7406554619550525,
          -0.06622629976430577,
          0.652754270079297
        ],
        "eef_pose_r": [
          561.9321115070684,
          -385.6088088113078,
          60.823819485216944,
          1.5130430152379681,
          0.2460126599518438,
          2.1547806715610407
        ],
        "joint_status_l": {
          "velocity": [
            1.5652677732176379,
            1.6044079710755277,
            -0.2874177390536081,
            -1.9204071639578046,
            -2.595687554793058,
            1.1214568473034703,
            2.3775597261428416
          ],
          "torque": [
            -18.55224609375,
            11.55029296875,
            -17.10205078125,
            -4.742431640625,
            -4.921875,
            0.13916015625,
            0.58135986328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.48890204519725,
            -5.5902308927455735,
            -0.8378914911002511,
            5.938572543661813,
            10.024507872810062,
            -14.568421955496014,
            -12.943720150950355
          ],
          "torque": [
            22.9248046875,
            5.01708984375,
            8.758544921875,
            -0.433349609375,
            4.830322265625,
            1.09130859375,
            -1.26708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.3,
            -8.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.3,
            -8.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -16.0,
            -2.6,
            0.9,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -2.6,
            0.9,
            0.4,
            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": -116,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36174471183126095,
          -0.4091133230011295,
          -0.09996276246591165,
          -1.3020861537873194,
          0.031655510429571765,
          -0.7398507026737804,
          0.278319643966507
        ],
        "act_joint_pos_r": [
          -0.5015162381543972,
          -0.7255382460403147,
          0.15831056340876568,
          -0.7771767166189388,
          0.4714060166844485,
          0.6358987480649457,
          -0.9348883900367562
        ],
        "act_eef_pose_l": [
          470.22308750798237,
          338.29349076978366,
          80.59243144788803,
          1.732945308331963,
          -0.06569723093613533,
          0.6641696147431806
        ],
        "act_eef_pose_r": [
          587.3238644042035,
          -400.0899481268787,
          22.607343346919833,
          1.5913841541113463,
          0.27572465998034945,
          2.0282266120026504
        ],
        "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": [
          0.3495207931281473,
          -0.4236590807414265,
          -0.09735947263260282,
          -1.2859404271105797,
          0.0523053024691617,
          -0.7488607660409563,
          0.25808193959434356
        ],
        "joint_pos_r": [
          -0.48005729035113137,
          -0.6606029917746732,
          0.16809084505257785,
          -0.8607216789113799,
          0.41395049723982047,
          0.7400820966469025,
          -0.8486961906230871
        ],
        "eef_pose_l": [
          473.9335031882969,
          335.75551874357325,
          81.37161153628588,
          1.7392625484857156,
          -0.06603413088846542,
          0.6546837149423181
        ],
        "eef_pose_r": [
          565.9502144096057,
          -387.90207438048617,
          55.93080987142622,
          1.5222498139104284,
          0.24977844977297048,
          2.1339264551078694
        ],
        "joint_status_l": {
          "velocity": [
            1.3201442843615574,
            1.570895504865888,
            -0.28114701000947484,
            -1.7436870537856919,
            -2.2301117666450043,
            0.9730581448392783,
            2.185607611142837
          ],
          "torque": [
            -18.8818359375,
            12.099609375,
            -17.626953125,
            -4.449462890625,
            -4.859619140625,
            0.0750732421875,
            0.538330078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.3174980118021438,
            -7.012800629190075,
            -1.0562392654198671,
            9.022589820522064,
            6.20501309294097,
            -11.251469802488145,
            -9.308482997645307
          ],
          "torque": [
            24.5068359375,
            7.40478515625,
            9.759521484375,
            0.994873046875,
            4.4622802734375,
            1.527099609375,
            -0.56671142578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.4,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.4,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.6,
            -15.8,
            -4.6,
            0.9,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.6,
            -15.8,
            -4.6,
            0.9,
            0.5,
            -0.1
          ]
        },
        "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": -61,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36091317656142774,
          -0.40845224032496935,
          -0.10010527371512216,
          -1.3028805031226838,
          0.03458497017299819,
          -0.7398896792841528,
          0.27617185060354776
        ],
        "act_joint_pos_r": [
          -0.4990646095212559,
          -0.734077085735073,
          0.1572903602820975,
          -0.7660289939800143,
          0.44472150158151047,
          0.6283268981274343,
          -0.9201676307793475
        ],
        "act_eef_pose_l": [
          470.03268750798236,
          338.32549076978364,
          80.73003144788805,
          1.7342331898430392,
          -0.0663821792878083,
          0.6635112709551355
        ],
        "act_eef_pose_r": [
          589.2454644042034,
          -398.6659481268787,
          18.760143346919904,
          1.6090801806919044,
          0.2830944406752999,
          2.0343101835491444
        ],
        "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": [
          0.35144763953017716,
          -0.4212020712832812,
          -0.09780161625058302,
          -1.2886737193954114,
          0.04920195226948921,
          -0.7473834304599388,
          0.26119529310840617
        ],
        "joint_pos_r": [
          -0.48370894911447215,
          -0.6725802807793019,
          0.16630232525069144,
          -0.8453024354485055,
          0.4225584846637937,
          0.7212216061761173,
          -0.8630802759371211
        ],
        "eef_pose_l": [
          473.30552695540433,
          336.17677336089565,
          81.25483814197872,
          1.7383219581107439,
          -0.06605049028091621,
          0.6561651082367526
        ],
        "eef_pose_r": [
          570.2602237081803,
          -389.98834748986525,
          49.98101761578229,
          1.5345532066335588,
          0.2541246314781252,
          2.1146155273671634
        ],
        "joint_status_l": {
          "velocity": [
            1.0222478497863285,
            1.376941132789966,
            -0.24878766857006074,
            -1.5342873911574628,
            -1.5785875084712298,
            0.8093012579211134,
            1.6174205062073899
          ],
          "torque": [
            -17.9736328125,
            11.07421875,
            -17.90771484375,
            -4.89501953125,
            -4.822998046875,
            -0.1446533203125,
            0.5584716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6583624131474295,
            -6.641459055859222,
            -0.9732635117354338,
            8.561279177165204,
            2.393535233565114,
            -10.032332581424441,
            -6.165252488557371
          ],
          "torque": [
            25.5322265625,
            4.86328125,
            9.130859375,
            2.093505859375,
            3.314208984375,
            1.2579345703125,
            -0.85235595703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -17.1,
            -9.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -17.1,
            -9.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.7,
            0.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.7,
            0.0,
            1.0,
            0.4,
            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": -95,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35950071305142217,
          -0.4064601135836503,
          -0.10058126327700356,
          -1.3083076880422522,
          0.03879011308499338,
          -0.7433353396333185,
          0.27193576516116696
        ],
        "act_joint_pos_r": [
          -0.5014721647208056,
          -0.7610691516106538,
          0.1539385812938388,
          -0.728081001012073,
          0.4343532367615395,
          0.6443821139381687,
          -0.9100601943262395
        ],
        "act_eef_pose_l": [
          468.42948750798234,
          336.91269076978364,
          81.58763144788787,
          1.734297543908,
          -0.06566832881509892,
          0.6564899824643764
        ],
        "act_eef_pose_r": [
          593.1062644042034,
          -393.94114812687866,
          12.353743346919828,
          1.6140919128457891,
          0.279628920418039,
          2.04202357408984
        ],
        "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": [
          0.3529807350844359,
          -0.4187496466918509,
          -0.09825626665543859,
          -1.2917254142433612,
          0.04703581234269562,
          -0.7464011955576734,
          0.2634219312835656
        ],
        "joint_pos_r": [
          -0.4865638614847671,
          -0.6850219360490737,
          0.16451416292365184,
          -0.8290810748250632,
          0.4258745947371283,
          0.705730005971231,
          -0.8725864592442742
        ],
        "eef_pose_l": [
          472.56840867511556,
          336.41874806498157,
          81.24407078946021,
          1.737591016685252,
          -0.06603876513612539,
          0.656760180463635
        ],
        "eef_pose_r": [
          574.175975656876,
          -391.2823719103321,
          44.1475478164088,
          1.5475504215646447,
          0.2584394421762363,
          2.1001926436216274
        ],
        "joint_status_l": {
          "velocity": [
            0.7041368530278369,
            1.3272304311167105,
            -0.25109222955954635,
            -1.7908327524924772,
            -0.890509255665306,
            0.33110267447877817,
            0.9194669405530043
          ],
          "torque": [
            -18.193359375,
            11.72607421875,
            -18.017578125,
            -4.901123046875,
            -4.837646484375,
            -0.164794921875,
            0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.610049263627289,
            -8.212857055379885,
            -1.1421291307218695,
            10.90768626679317,
            0.915666332501619,
            -6.625376934523253,
            -4.047044027668534
          ],
          "torque": [
            24.55810546875,
            -1.904296875,
            9.033203125,
            6.11572265625,
            3.775634765625,
            2.138671875,
            -0.6683349609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.7,
            -7.9,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.7,
            -7.9,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.7,
            -16.5,
            -0.8,
            1.0,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            1.7,
            -16.5,
            -0.8,
            1.0,
            0.4,
            -0.1
          ]
        },
        "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": -51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3642418639425078,
          -0.4005509440752402,
          -0.10169333808548002,
          -1.3135972300879915,
          0.038501006602561325,
          -0.7434652621492789,
          0.271373390156387
        ],
        "act_joint_pos_r": [
          -0.4991098680346333,
          -0.7897747474326399,
          0.15032547293345472,
          -0.6773839221661752,
          0.3951548999938028,
          0.6648472698023513,
          -0.8871973826267296
        ],
        "act_eef_pose_l": [
          466.31988750798234,
          337.8894907697836,
          80.42363144788789,
          1.7364431452020652,
          -0.06228686628444683,
          0.6569778856395357
        ],
        "act_eef_pose_r": [
          597.2542644042035,
          -390.56994812687867,
          5.30174334691992,
          1.6311313231072544,
          0.29044867104359035,
          2.057456027659685
        ],
        "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": [
          0.3546051015373235,
          -0.4159889971767662,
          -0.09877795835071572,
          -1.2951834250303216,
          0.045549147357552805,
          -0.7458720492250426,
          0.2648713119448898
        ],
        "joint_pos_r": [
          -0.4889109960399819,
          -0.6987841154664481,
          0.16261694647479497,
          -0.8102511854822516,
          0.42554736906690416,
          0.6965432588356683,
          -0.8777431328411363
        ],
        "eef_pose_l": [
          471.62813845120553,
          336.6082345190673,
          81.18280908482936,
          1.7372143073093917,
          -0.06563424497311081,
          0.6567593858271875
        ],
        "eef_pose_r": [
          577.7537347793696,
          -391.6549378340938,
          38.607191503565815,
          1.5589948209201692,
          0.261925971243089,
          2.0908726011790866
        ],
        "joint_status_l": {
          "velocity": [
            1.040739644785127,
            1.6672605617431557,
            -0.31485172529921446,
            -1.9886322946547352,
            -0.7611767518308499,
            0.2599253380948241,
            0.7022037364494693
          ],
          "torque": [
            -16.69921875,
            12.71484375,
            -17.78564453125,
            -4.84619140625,
            -4.8944091796875,
            -0.12451171875,
            0.6207275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1014456900180214,
            -9.826698429370673,
            -1.3274399917151403,
            14.349241229888676,
            -3.282289853930642,
            -3.4230658576674955,
            -1.0210288632066522
          ],
          "torque": [
            25.078125,
            7.5,
            9.5703125,
            1.031494140625,
            4.2315673828125,
            1.7816162109375,
            -0.85693359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.6,
            -8.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -16.6,
            -8.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.3,
            -17.6,
            -1.5,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.3,
            -17.6,
            -1.5,
            1.1,
            0.5,
            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": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3686310243748275,
          -0.3967064925037351,
          -0.10251991523832926,
          -1.3197397814413683,
          0.0393756012059926,
          -0.7395105305398223,
          0.2682321472664317
        ],
        "act_joint_pos_r": [
          -0.4991001594687665,
          -0.8180135236674572,
          0.14718825776858271,
          -0.6298013255206212,
          0.374066391710929,
          0.6813295121156134,
          -0.8769278949918211
        ],
        "act_eef_pose_l": [
          464.86148750798236,
          338.07269076978366,
          78.97643144788805,
          1.739448394553216,
          -0.0574079837165666,
          0.658697910842456
        ],
        "act_eef_pose_r": [
          601.3478644042034,
          -387.7691481268787,
          -1.4182566530801068,
          1.6431006039751377,
          0.29777393110217487,
          2.0645018546613993
        ],
        "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": [
          0.35668462558908565,
          -0.41301723447565303,
          -0.09935050648231566,
          -1.2989037115427038,
          0.0444891576120437,
          -0.7450301215740153,
          0.2655857565627969
        ],
        "joint_pos_r": [
          -0.4907135423458254,
          -0.7169080892981329,
          0.16021751191951583,
          -0.7833283478966199,
          0.41865320670443507,
          0.692127539997531,
          -0.8786742756698698
        ],
        "eef_pose_l": [
          470.593406611888,
          336.84613682179094,
          80.88550438719946,
          1.7374160229509885,
          -0.06452896210465961,
          0.6569890742764746
        ],
        "eef_pose_r": [
          581.8347612655474,
          -391.4113097698666,
          32.16266538741502,
          1.5724131787097932,
          0.26709839530181795,
          2.085015024467018
        ],
        "joint_status_l": {
          "velocity": [
            1.290173017240992,
            1.7615081800608223,
            -0.3422860504619374,
            -2.2502291820938325,
            -0.5522478041752321,
            0.5960982507149382,
            0.28580176671999524
          ],
          "torque": [
            -16.7724609375,
            13.125,
            -17.510986328125,
            -5.303955078125,
            -4.7900390625,
            -0.2362060546875,
            0.66558837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9057279362600923,
            -10.919064871282025,
            -1.4071179475754203,
            16.580429402982766,
            -4.815234001563251,
            -1.1661526174142622,
            0.1886035506650785
          ],
          "torque": [
            25.0341796875,
            5.31005859375,
            9.14306640625,
            2.093505859375,
            1.2432861328125,
            1.93359375,
            0.0054931640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.9,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.9,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.0,
            -16.9,
            -0.2,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.0,
            -16.9,
            -0.2,
            1.1,
            0.5,
            -0.1
          ]
        },
        "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": -93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.369912433361084,
          -0.39390006412352335,
          -0.10323239186104614,
          -1.3273714485696548,
          0.03928644530966415,
          -0.736635628467618,
          0.2661232439385178
        ],
        "act_joint_pos_r": [
          -0.4982295068385021,
          -0.838129904938224,
          0.1454204995178761,
          -0.6007625070153191,
          0.3646565237027226,
          0.6912150956559359,
          -0.878832840874191
        ],
        "act_eef_pose_l": [
          463.5334875079824,
          337.07749076978365,
          79.16283144788787,
          1.7391356390870267,
          -0.05467689163339509,
          0.6572392819450955
        ],
        "act_eef_pose_r": [
          604.4590644042034,
          -384.3547481268787,
          -4.811856653080213,
          1.647453845521217,
          0.3068943401290571,
          2.0696514138051794
        ],
        "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": [
          0.35828252310030667,
          -0.41075937837921495,
          -0.09980129162479338,
          -1.3020797653837186,
          0.04383831015956929,
          -0.7441272477704128,
          0.26576720364473866
        ],
        "joint_pos_r": [
          -0.49202948751128817,
          -0.7349797774485514,
          0.15794810484055788,
          -0.7559954718297879,
          0.4106448743214046,
          0.6910651624309404,
          -0.8785245287599607
        ],
        "eef_pose_l": [
          469.77773136495557,
          336.93416489164264,
          80.65090797224363,
          1.737641274424066,
          -0.06343200906388605,
          0.6570992521790451
        ],
        "eef_pose_r": [
          585.5907225776592,
          -390.7438346439336,
          26.317769832592205,
          1.584092990089657,
          0.2725352527218891,
          2.0815448924877744
        ],
        "joint_status_l": {
          "velocity": [
            1.255993264622557,
            1.82075223939826,
            -0.3705478967891418,
            -2.731421225117714,
            -0.49158690520900716,
            0.8090710224282205,
            0.03845121767009907
          ],
          "torque": [
            -17.73193359375,
            10.87646484375,
            -18.07861328125,
            -4.91943359375,
            -4.9273681640625,
            -0.0457763671875,
            0.208740234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.66958233906389,
            -11.139885215532885,
            -1.3529414719739563,
            16.764665752576846,
            -4.96659538491695,
            0.016192310733131876,
            -0.033296726301479396
          ],
          "torque": [
            26.18408203125,
            2.99560546875,
            8.734130859375,
            1.20849609375,
            1.351318359375,
            2.830810546875,
            -0.3424072265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.9,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.9,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.5,
            -17.1,
            -1.3,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -17.1,
            -1.3,
            1.1,
            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": -82,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37114772034786,
          -0.39416911778890396,
          -0.1031075924562335,
          -1.3240035498658338,
          0.038637838069503334,
          -0.741663636495853,
          0.2657604048442188
        ],
        "act_joint_pos_r": [
          -0.494921147010996,
          -0.861679012048251,
          0.1433244384516278,
          -0.5627889846574589,
          0.32661601645369265,
          0.7239226495202666,
          -0.8471936220086469
        ],
        "act_eef_pose_l": [
          463.2422875079824,
          337.50549076978365,
          78.60763144788808,
          1.7392273016182622,
          -0.0524047218947365,
          0.6555892144978198
        ],
        "act_eef_pose_r": [
          605.9822644042035,
          -376.9571481268787,
          -8.431056653080077,
          1.655724655619315,
          0.3041351429130068,
          2.0993353971936575
        ],
        "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": [
          0.3604105712683893,
          -0.40779414453351565,
          -0.10040068692516088,
          -1.3063558397274466,
          0.04299581175922369,
          -0.7430948429623891,
          0.2658090700600623
        ],
        "joint_pos_r": [
          -0.4929173797310123,
          -0.7565015115352463,
          0.15539990091856118,
          -0.7233892970189622,
          0.398684229226568,
          0.6939026217130271,
          -0.8758654497068348
        ],
        "eef_pose_l": [
          468.6595862576319,
          336.9903419748241,
          80.34638653023677,
          1.7379028550009625,
          -0.06174939783462636,
          0.6570275654520022
        ],
        "eef_pose_r": [
          589.6418718551253,
          -389.12808082295743,
          20.049199967420833,
          1.5963051592858228,
          0.2787525498170594,
          2.081287901041371
        ],
        "joint_status_l": {
          "velocity": [
            1.1595779006605689,
            1.471459490040239,
            -0.29233717533161396,
            -1.9058964835334535,
            -0.47064727749035473,
            0.15456573971306398,
            -0.005255688302785444
          ],
          "torque": [
            -15.35888671875,
            11.8359375,
            -18.6767578125,
            -3.985595703125,
            -4.9749755859375,
            -0.4376220703125,
            0.11444091796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.21640048384696797,
            -11.358835044472215,
            -1.3041114837166745,
            17.344322191602757,
            -7.783137428102993,
            3.2420673835158453,
            3.096466066019765
          ],
          "torque": [
            26.3818359375,
            3.69140625,
            7.830810546875,
            0.469970703125,
            1.0418701171875,
            3.380126953125,
            0.53741455078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -16.4,
            -3.8,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.4,
            -3.8,
            1.1,
            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": -59,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3723871028770085,
          -0.3939458900698903,
          -0.103123804353654,
          -1.3225727114454726,
          0.03741942347324826,
          -0.7448553407116716,
          0.26652566581009396
        ],
        "act_joint_pos_r": [
          -0.4964673850644088,
          -0.8718486791558829,
          0.14276657854617605,
          -0.5498965094308165,
          0.3302809230963226,
          0.7395495856979619,
          -0.8505728224808683
        ],
        "act_eef_pose_l": [
          462.8638875079824,
          337.7166907697836,
          78.25243144788789,
          1.7388898098048249,
          -0.05106421797913177,
          0.654311056162971
        ],
        "act_eef_pose_r": [
          606.4542644042035,
          -373.2675481268787,
          -9.051856653079994,
          1.6483293118099474,
          0.30289773964426603,
          2.106597128482746
        ],
        "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": [
          0.36239835114015356,
          -0.4053690301508084,
          -0.10088045948611984,
          -1.3093729372919594,
          0.042137435550623936,
          -0.743071921081759,
          0.265855642294503
        ],
        "joint_pos_r": [
          -0.49335827619421446,
          -0.7745254528854577,
          0.1533745285305188,
          -0.6960577846490361,
          0.38710079732727615,
          0.6999645037033501,
          -0.8713955812123236
        ],
        "eef_pose_l": [
          467.6760575690067,
          337.1005332081176,
          80.00561707875661,
          1.7381108005603396,
          -0.059998246665437245,
          0.6566790311475041
        ],
        "eef_pose_r": [
          592.6385754505878,
          -387.0600563252486,
          15.28236439245137,
          1.6050434628993022,
          0.28297034903331486,
          2.0843333330503997
        ],
        "joint_status_l": {
          "velocity": [
            1.0787533714502473,
            1.2336627438016556,
            -0.24227410020094542,
            -1.4255335647135325,
            -0.5095302765643628,
            -0.19260363948880865,
            0.07236040552771605
          ],
          "torque": [
            -14.9560546875,
            11.34521484375,
            -19.000244140625,
            -5.26123046875,
            -4.8486328125,
            -1.7340087890625,
            0.5859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.33577385485994427,
            -10.510598443675079,
            -1.1456248099113164,
            15.78495217128939,
            -6.136365434518787,
            4.275062769181659,
            2.248791618434609
          ],
          "torque": [
            26.19873046875,
            4.5263671875,
            7.733154296875,
            0.860595703125,
            1.07666015625,
            4.295654296875,
            0.7598876953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.7,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.7,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.0,
            -16.9,
            -0.1,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.0,
            -16.9,
            -0.1,
            1.1,
            0.5,
            -0.1
          ]
        },
        "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": -7,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36905469982999417,
          -0.3978129139704598,
          -0.10222673348358598,
          -1.3134820973911856,
          0.050091993120872806,
          -0.7642469354265214,
          0.24434969619511773
        ],
        "act_joint_pos_r": [
          -0.4970829963851227,
          -0.8772994262989248,
          0.14289594988115562,
          -0.554811762703921,
          0.3325535422741215,
          0.7485018561624457,
          -0.8526921503415628
        ],
        "act_eef_pose_l": [
          461.83668750798233,
          336.6294907697836,
          77.80363144788777,
          1.7430221735106526,
          -0.037311757880504934,
          0.6408511402172904
        ],
        "act_eef_pose_r": [
          606.1630644042034,
          -366.5947481268787,
          -8.211856653080076,
          1.6395555110109177,
          0.29905581488065236,
          2.120074381593269
        ],
        "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": [
          0.36387824012594405,
          -0.40368144561788716,
          -0.10120005601665245,
          -1.3109260131402287,
          0.04239164587471527,
          -0.7450527084253409,
          0.26406950589641315
        ],
        "joint_pos_r": [
          -0.4939608650874798,
          -0.7922011595828384,
          0.15151006496058064,
          -0.6706373931619233,
          0.3772497517285475,
          0.7077323524255842,
          -0.8678959627047457
        ],
        "eef_pose_l": [
          466.7401519163287,
          337.11576408213216,
          79.65331267174935,
          1.738597664366665,
          -0.05724631779731245,
          0.6550962931466923
        ],
        "eef_pose_r": [
          595.2884164197258,
          -384.23178205322506,
          11.021149850165187,
          1.6115406046640781,
          0.28629325057886656,
          2.089060738207533
        ],
        "joint_status_l": {
          "velocity": [
            0.5590411599998291,
            0.633782725499632,
            -0.11087789625996436,
            -0.2760489574740177,
            0.8316129754713519,
            -2.0729153787568677,
            -2.1296766362850494
          ],
          "torque": [
            -14.97802734375,
            13.2861328125,
            -18.34716796875,
            -4.742431640625,
            -2.34375,
            -2.2320556640625,
            -0.3369140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.33718023554563104,
            -9.190341750695552,
            -0.9302969909348313,
            12.50879916215375,
            -4.827048254899768,
            4.402976544728432,
            1.6419633081055096
          ],
          "torque": [
            26.96044921875,
            4.35791015625,
            7.373046875,
            0.8056640625,
            1.234130859375,
            4.588623046875,
            0.7708740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.9,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.9,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -17.7,
            0.4,
            1.2,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -17.7,
            0.4,
            1.2,
            0.4,
            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": -22,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35874952358996154,
          -0.3932645490567665,
          -0.10318349420810535,
          -1.3199948559628636,
          0.0993881893795292,
          -0.7565006556650637,
          0.19405010681685356
        ],
        "act_joint_pos_r": [
          -0.4978982749196353,
          -0.891212905064334,
          0.14174119156577636,
          -0.5299338633599564,
          0.32824542289898456,
          0.7834611093265583,
          -0.8493263166231442
        ],
        "act_eef_pose_l": [
          461.20388750798236,
          337.72789076978364,
          76.5748314478879,
          1.7705368960154333,
          -0.03190814081027178,
          0.6420793484041423
        ],
        "act_eef_pose_r": [
          605.7566644042035,
          -361.7723481268787,
          -8.492656653080076,
          1.628980922679873,
          0.29825467761355684,
          2.1381721479954794
        ],
        "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": [
          0.363908412811637,
          -0.40225319966056533,
          -0.10146375344027588,
          -1.311937304185912,
          0.04798697814115872,
          -0.7477811132372093,
          0.2562628543409665
        ],
        "joint_pos_r": [
          -0.4945829050454697,
          -0.8084422196266294,
          0.14988783958652158,
          -0.6480217882096933,
          0.3689770796055727,
          0.7179432489054999,
          -0.8649187233422259
        ],
        "eef_pose_l": [
          465.81811958112297,
          337.1060123067579,
          79.22952038185471,
          1.7416882291366624,
          -0.053277552591743604,
          0.652553203893417
        ],
        "eef_pose_r": [
          597.3783579283408,
          -380.8580412214824,
          7.580040877397181,
          1.6152228840805698,
          0.2886232187215651,
          2.095782531896256
        ],
        "joint_status_l": {
          "velocity": [
            -0.557143603868937,
            0.9707456345986465,
            -0.1857265252145357,
            -0.8701899270313618,
            5.551167090822318,
            -0.9416828087580598,
            -6.718778572822659
          ],
          "torque": [
            -25.93505859375,
            13.02978515625,
            -17.83447265625,
            -4.876708984375,
            -1.3165283203125,
            -2.45361328125,
            -0.7928466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3580493863077905,
            -8.938970386433098,
            -0.8798120375714813,
            12.753119750610331,
            -4.39888918601028,
            7.07572023826053,
            1.683930260792721
          ],
          "torque": [
            26.7333984375,
            5.20751953125,
            7.147216796875,
            -0.20751953125,
            1.204833984375,
            4.0631103515625,
            0.79742431640625
          ]
        },
        "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": [
            2.2,
            -17.2,
            -2.5,
            1.2,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.2,
            -17.2,
            -2.5,
            1.2,
            0.5,
            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": -32,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35560441740644544,
          -0.3842472551374473,
          -0.10478734165614195,
          -1.3209389903910986,
          0.11022586648969283,
          -0.7409899398739862,
          0.19109014676910116
        ],
        "act_joint_pos_r": [
          -0.4995512587968212,
          -0.905075482804154,
          0.14049711765446773,
          -0.5014064261598175,
          0.3324560400386836,
          0.8229301747411036,
          -0.8541326648604375
        ],
        "act_eef_pose_l": [
          462.73508750798237,
          343.83749076978364,
          77.14523144788797,
          1.7792879927522116,
          -0.04470890829419695,
          0.6623929277330001
        ],
        "act_eef_pose_r": [
          605.1454644042035,
          -358.24034812687864,
          -8.011856653080258,
          1.6126736811130158,
          0.3005648552745569,
          2.1520763199876995
        ],
        "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": [
          0.3627261576818849,
          -0.39988947263672564,
          -0.10190556588084587,
          -1.3134430348757054,
          0.05800594762010328,
          -0.7479906505017999,
          0.2450088988472297
        ],
        "joint_pos_r": [
          -0.49528827333934167,
          -0.8240762887582518,
          0.14835774382338648,
          -0.6250859722293263,
          0.3620789731276274,
          0.7323731460652729,
          -0.8625084008611669
        ],
        "eef_pose_l": [
          465.12690347345034,
          337.710404571589,
          78.81313624079533,
          1.7475160086052988,
          -0.05057789572586087,
          0.6522249323781287
        ],
        "eef_pose_r": [
          599.0276716343703,
          -377.3769805581461,
          4.7629308646564255,
          1.6161035269275377,
          0.29061683474662264,
          2.103962238012588
        ],
        "joint_status_l": {
          "velocity": [
            -0.7691252656107928,
            1.6893096663967988,
            -0.31122260471194707,
            -0.809539319575947,
            5.639584907249862,
            0.7560544491695964,
            -5.823053482655771
          ],
          "torque": [
            -33.017578125,
            12.64892578125,
            -18.76220703125,
            -4.620361328125,
            -1.5545654296875,
            -0.604248046875,
            -0.69488525390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4603888509642218,
            -8.747654958664697,
            -0.8489225886099128,
            13.356997031936935,
            -3.19918241876449,
            9.779870655122203,
            0.9045528097200162
          ],
          "torque": [
            26.8798828125,
            5.22216796875,
            7.2265625,
            1.35498046875,
            1.3421630859375,
            4.237060546875,
            0.72784423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.9,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.9,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.4,
            -17.1,
            -0.2,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -17.1,
            -0.2,
            1.1,
            0.5,
            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": 38,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3554803656180518,
          -0.38321156212091,
          -0.10493285960565454,
          -1.3191551254795706,
          0.10779403099728817,
          -0.7429265136784787,
          0.19173655199612272
        ],
        "act_joint_pos_r": [
          -0.5014450609107386,
          -0.9285289697083838,
          0.13811283295915594,
          -0.44324892780293756,
          0.3404905610331425,
          0.8850819792724361,
          -0.8652182784175272
        ],
        "act_eef_pose_l": [
          462.75188750798236,
          344.70709076978363,
          77.57163144788802,
          1.7778512357208265,
          -0.043879240758611875,
          0.6637654589278335
        ],
        "act_eef_pose_r": [
          604.8398644042035,
          -356.7859481268787,
          -7.631856653080149,
          1.5895489268672032,
          0.31129040093685384,
          2.1635408869668677
        ],
        "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": [
          0.36145802977797015,
          -0.39704912180152063,
          -0.10242558016356793,
          -1.3146397630499298,
          0.06706352869715697,
          -0.7468924963654151,
          0.2355222171328092
        ],
        "joint_pos_r": [
          -0.4960991367014353,
          -0.8387550555915606,
          0.14692694326912997,
          -0.601374111918984,
          0.35767598536920714,
          0.7508719272629896,
          -0.8617756515473515
        ],
        "eef_pose_l": [
          464.6998008696779,
          338.83298452088997,
          78.54353688057492,
          1.7530560616684987,
          -0.04943725691024326,
          0.6539505667760455
        ],
        "eef_pose_r": [
          600.2611754956613,
          -374.2882002710399,
          2.661825468824219,
          1.6138469010000103,
          0.29287231911093725,
          2.112249970405967
        ],
        "joint_status_l": {
          "velocity": [
            -0.6455686892405943,
            1.4944123701692291,
            -0.2707781935694653,
            -0.4876447600867806,
            4.398764513789621,
            0.42831349775784844,
            -4.728712368845978
          ],
          "torque": [
            -31.376953125,
            12.69287109375,
            -18.133544921875,
            -4.21142578125,
            -1.61865234375,
            -0.4522705078125,
            -0.5621337890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5773427867894476,
            -9.695296777122664,
            -0.9518958388101684,
            17.077016224861907,
            -1.8559710893542025,
            14.494258131726667,
            -0.3717927365380902
          ],
          "torque": [
            27.75146484375,
            -2.51220703125,
            6.72607421875,
            7.440185546875,
            1.636962890625,
            6.5350341796875,
            0.72509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.9,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.9,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.3,
            -16.3,
            -1.2,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.3,
            -16.3,
            -1.2,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": -40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3426895442338104,
          -0.3975515128150968,
          -0.10162907546499143,
          -1.2897473766757739,
          0.15837625077353515,
          -0.7953984346437475,
          0.13106979956839293
        ],
        "act_joint_pos_r": [
          -0.500215809931976,
          -0.9385690994916309,
          0.13715471572208335,
          -0.41606374162987303,
          0.3373164395792321,
          0.9168450951837007,
          -0.8659669553022886
        ],
        "act_eef_pose_l": [
          461.07988750798233,
          342.2854907697837,
          74.29483144788793,
          1.8034313943989866,
          -0.016677405215158442,
          0.6276084282063963
        ],
        "act_eef_pose_r": [
          604.3038644042035,
          -355.8115481268787,
          -6.664656653080101,
          1.5803924476837943,
          0.3180194582224989,
          2.17359861395261
        ],
        "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": [
          0.35947888791328686,
          -0.3956364604368706,
          -0.1026306796342464,
          -1.3133177669786715,
          0.0779120904154847,
          -0.7499745945352968,
          0.2234063645028817
        ],
        "joint_pos_r": [
          -0.49692400919070284,
          -0.8539542987099176,
          0.1454358767456297,
          -0.5741854536315176,
          0.35471141613102497,
          0.7743300517672138,
          -0.8623744753814069
        ],
        "eef_pose_l": [
          464.237981956035,
          339.6457263991107,
          78.17476272156776,
          1.7590510475363113,
          -0.0466273243934128,
          0.6527709331115851
        ],
        "eef_pose_r": [
          601.2889918465905,
          -371.5168728608487,
          0.9735630560314235,
          1.6090791340443569,
          0.2960717496659854,
          2.1208371315009438
        ],
        "joint_status_l": {
          "velocity": [
            -1.813195640036458,
            -0.20681955703150123,
            0.10817005997421081,
            2.5455270764052074,
            8.689873024564587,
            -4.905630047888465,
            -9.972054902886773
          ],
          "torque": [
            -31.09130859375,
            8.115234375,
            -11.23046875,
            -2.0751953125,
            -1.2249755859375,
            -2.3968505859375,
            -1.66259765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.35550399502737307,
            -9.138128969717663,
            -0.8943390134237283,
            17.07664124756647,
            -1.8786020611876175,
            15.391170750663541,
            -0.38797638870313733
          ],
          "torque": [
            27.37060546875,
            4.12353515625,
            6.622314453125,
            1.37939453125,
            1.6168212890625,
            4.4952392578125,
            -0.40740966796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.6,
            -15.5,
            -8.4,
            1.2,
            0.1,
            0.1
          ],
          "actual_contact_FT": [
            1.6,
            -15.5,
            -8.4,
            1.2,
            0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.4,
            -16.9,
            -0.9,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.4,
            -16.9,
            -0.9,
            1.1,
            0.5,
            -0.1
          ]
        },
        "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": -28,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3460861205094214,
          -0.39648382123512665,
          -0.10191953437313737,
          -1.2935019247936654,
          0.15313294467358132,
          -0.7896049746666727,
          0.13761096834049097
        ],
        "act_joint_pos_r": [
          -0.4995689509751573,
          -0.9385074310667658,
          0.1372734622660291,
          -0.4149441373842559,
          0.3339406773698257,
          0.9193949385300066,
          -0.8657798002104542
        ],
        "act_eef_pose_l": [
          460.93668750798236,
          342.0990907697837,
          73.70763144788799,
          1.8016245335425334,
          -0.018088974443386238,
          0.6304130742656555
        ],
        "act_eef_pose_r": [
          604.0942644042034,
          -355.68594812687866,
          -6.5094566530801785,
          1.5811400635311947,
          0.32050987522101354,
          2.1763060450223226
        ],
        "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": [
          0.35691617243046436,
          -0.39588924278824983,
          -0.1024828990847562,
          -1.3096610807224924,
          0.09083533572755215,
          -0.7571054052916817,
          0.2086067697687281
        ],
        "joint_pos_r": [
          -0.4974776257068462,
          -0.8689121991781754,
          0.14397691164189874,
          -0.5461790473446662,
          0.35148761900539305,
          0.7996398651143838,
          -0.8630014386457375
        ],
        "eef_pose_l": [
          463.7175577500767,
          339.99781368662246,
          77.57015346399987,
          1.7658440714866246,
          -0.04203223061812972,
          0.6483901897231261
        ],
        "eef_pose_r": [
          602.1030959580883,
          -368.8679008046127,
          -0.39993821941894225,
          1.6036380434407453,
          0.2999471224127268,
          2.1299935856034344
        ],
        "joint_status_l": {
          "velocity": [
            -1.1696111116372698,
            -0.06421257841404682,
            0.06084159442798498,
            1.745137370237515,
            6.7279433360893925,
            -3.509849975007029,
            -7.667320418721868
          ],
          "torque": [
            -31.6552734375,
            6.20361328125,
            -10.7666015625,
            -0.531005859375,
            -1.666259765625,
            -1.9354248046875,
            -0.66375732421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.22585646769712753,
            -7.516063369527259,
            -0.7239511807952681,
            14.172952266841676,
            -1.8950138061968325,
            12.933166485530556,
            -0.3000541993634087
          ],
          "torque": [
            27.66357421875,
            3.6328125,
            6.170654296875,
            1.043701171875,
            1.6058349609375,
            4.456787109375,
            -0.5438232421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.2,
            -7.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.2,
            -7.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.1,
            -16.9,
            -1.3,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -16.9,
            -1.3,
            1.1,
            0.5,
            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": 22,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3480341398451709,
          -0.3975963852244288,
          -0.10171135296401229,
          -1.2926600925575362,
          0.14930902607358978,
          -0.7879121436312175,
          0.139144745141418
        ],
        "act_joint_pos_r": [
          -0.499413495726023,
          -0.9353901006818363,
          0.13762071709655332,
          -0.41922232310908975,
          0.32831225086596527,
          0.9235899023132157,
          -0.8645974817930476
        ],
        "act_eef_pose_l": [
          461.2934875079824,
          342.00869076978364,
          73.12843144788786,
          1.8003439070485672,
          -0.015619784403261026,
          0.6323946053407248
        ],
        "act_eef_pose_r": [
          602.9118644042035,
          -355.1027481268787,
          -6.180656653080177,
          1.5818965896122579,
          0.32275086710686035,
          2.183491904449998
        ],
        "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": [
          0.35508685956492875,
          -0.3960432184189969,
          -0.10237415088090827,
          -1.3067670439159929,
          0.10168218056392636,
          -0.762777275528799,
          0.1961214584994284
        ],
        "joint_pos_r": [
          -0.49784280526515,
          -0.8811252920799177,
          0.14280192588216586,
          -0.5231017744482179,
          0.34821919151814856,
          0.8209372771565738,
          -0.8634578100957572
        ],
        "eef_pose_l": [
          463.24558746501265,
          340.31982332004065,
          76.90209582271902,
          1.7718739106092565,
          -0.037840409150820965,
          0.6450258767896488
        ],
        "eef_pose_r": [
          602.6221546189936,
          -366.6094100075502,
          -1.4824514306260994,
          1.5993630531926515,
          0.3036095530404248,
          2.138168650780873
        ],
        "joint_status_l": {
          "velocity": [
            -0.7616712654407998,
            -0.16773706784611875,
            0.07158006388363614,
            1.5235058133118429,
            5.14354761421576,
            -2.714485695584301,
            -6.153303560677781
          ],
          "torque": [
            -31.7578125,
            8.5693359375,
            -14.984130859375,
            -0.0244140625,
            -1.6351318359375,
            -2.347412109375,
            -0.66925048828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1696295668174308,
            -5.86042648496754,
            -0.5595540456819759,
            11.218649868234731,
            -2.1498861829325477,
            11.086156548207882,
            -0.12308091322932313
          ],
          "torque": [
            28.0810546875,
            3.80859375,
            5.902099609375,
            0.714111328125,
            1.6351318359375,
            4.0997314453125,
            -0.50994873046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.5,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.5,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.5,
            -16.3,
            -1.4,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.3,
            -1.4,
            1.0,
            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": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3412991129549691,
          -0.4036030372484298,
          -0.10027871521736348,
          -1.2764228890902631,
          0.1630660865717093,
          -0.8100685979274961,
          0.1206791502590478
        ],
        "act_joint_pos_r": [
          -0.5001896363997815,
          -0.9312405034037616,
          0.13799798600524182,
          -0.42496774092655093,
          0.3258674325526165,
          0.9281425228619944,
          -0.8664436138871938
        ],
        "act_eef_pose_l": [
          461.62548750798237,
          342.3558907697836,
          73.06283144788796,
          1.806727495583283,
          -0.006979482882779249,
          0.6217013280826077
        ],
        "act_eef_pose_r": [
          601.4422644042035,
          -354.79234812687866,
          -5.765456653080037,
          1.5807667960281624,
          0.3255844075755549,
          2.189505944135537
        ],
        "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": [
          0.353448508460276,
          -0.3966668766266973,
          -0.10217371236530247,
          -1.3033292759127109,
          0.11090242707911774,
          -0.768508838318323,
          0.18497446482264546
        ],
        "joint_pos_r": [
          -0.49812390761838915,
          -0.8899238031022065,
          0.14196128487364093,
          -0.5061939078386442,
          0.3448744863211962,
          0.8379471454718938,
          -0.8636996087156217
        ],
        "eef_pose_l": [
          462.92705885469366,
          340.6031127209831,
          76.26447753341364,
          1.7770677969169808,
          -0.0335472087610138,
          0.6419513992555302
        ],
        "eef_pose_r": [
          602.757752096911,
          -364.7576204625559,
          -2.23616795271397,
          1.5962045168541603,
          0.30686108209229634,
          2.1456254271795063
        ],
        "joint_status_l": {
          "velocity": [
            -1.3120960163699458,
            -0.7490832541177106,
            0.2046536560404988,
            2.905804074714524,
            5.633509073731169,
            -4.488321661819228,
            -6.943689179703227
          ],
          "torque": [
            -33.08349609375,
            4.66552734375,
            -12.249755859375,
            2.57568359375,
            -0.90087890625,
            -2.93701171875,
            -0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.22309212863946826,
            -4.462072030787745,
            -0.42802365390426367,
            8.772167305261203,
            -2.0527012658191346,
            9.740813468193998,
            -0.2963438183360978
          ],
          "torque": [
            27.6708984375,
            5.04638671875,
            5.560302734375,
            -0.164794921875,
            1.556396484375,
            4.0960693359375,
            -0.5328369140625
          ]
        },
        "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": [
            2.1,
            -16.7,
            -1.0,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -16.7,
            -1.0,
            1.0,
            0.5,
            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": 45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33436009831369934,
          -0.3994890026072931,
          -0.10091362416587717,
          -1.275636362737891,
          0.19310984575675308,
          -0.8109351297178563,
          0.09404808055045707
        ],
        "act_joint_pos_r": [
          -0.5008143556080289,
          -0.9287102768101849,
          0.13818708364944274,
          -0.42708699638823394,
          0.32833780400643997,
          0.9366225191011045,
          -0.8711945427673996
        ],
        "act_eef_pose_l": [
          461.2798875079824,
          345.12869076978365,
          72.36763144788785,
          1.824981764236499,
          -0.007304193352484986,
          0.6247927780432546
        ],
        "act_eef_pose_r": [
          600.1958644042035,
          -354.5795481268787,
          -4.55745665308018,
          1.5747410726865356,
          0.328858188486308,
          2.1934672286428514
        ],
        "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": [
          0.35114653433408405,
          -0.39762651484755024,
          -0.10189006051384823,
          -1.298871457519768,
          0.12079701578116686,
          -0.7753791156442053,
          0.17323532899649532
        ],
        "joint_pos_r": [
          -0.4985418363961193,
          -0.8976230972039224,
          0.14122037711103788,
          -0.49093220030054147,
          0.3413899145852853,
          0.8553697459483938,
          -0.8644269256853053
        ],
        "eef_pose_l": [
          462.7072438939351,
          340.9657148163431,
          75.75113394221756,
          1.7824637219979196,
          -0.02937878855150567,
          0.6384775093466155
        ],
        "eef_pose_r": [
          602.5594673347731,
          -362.8917034942673,
          -2.8370273746761825,
          1.5928102507964856,
          0.3105724000186397,
          2.153963272411958
        ],
        "joint_status_l": {
          "velocity": [
            -1.8128816221163468,
            -0.20114274566385149,
            0.1054520154399885,
            2.509316228117342,
            7.809555306841576,
            -3.8399362670871184,
            -8.5519706052819
          ],
          "torque": [
            -32.38037109375,
            5.13427734375,
            -10.9619140625,
            0.48828125,
            -1.4666748046875,
            -2.1771240234375,
            -0.78369140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.24542483646738944,
            -3.357316378722608,
            -0.3275860322187185,
            6.895078663054388,
            -1.409586368987803,
            8.775040694501968,
            -0.7308810886801353
          ],
          "torque": [
            27.76611328125,
            2.73193359375,
            5.450439453125,
            -0.25634765625,
            1.7138671875,
            4.1656494140625,
            -0.54840087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.2,
            -5.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.2,
            -5.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.6,
            -1.5,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            1.6,
            -16.6,
            -1.5,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33527458757432493,
          -0.39367949129982044,
          -0.10196248022430368,
          -1.2789587169236127,
          0.1891540081925151,
          -0.8005701238352357,
          0.10071219427905381
        ],
        "act_joint_pos_r": [
          -0.5022961910006631,
          -0.9214504011951997,
          0.13906647305305878,
          -0.44803409546026507,
          0.33281761319720987,
          0.9308853227137618,
          -0.8782975553822083
        ],
        "act_eef_pose_l": [
          461.8246875079824,
          347.95269076978366,
          73.14843144788807,
          1.8235333038246597,
          -0.014339635306386786,
          0.6364552895861952
        ],
        "act_eef_pose_r": [
          598.8246644042035,
          -352.5003481268787,
          -3.293456653080284,
          1.5700199214390227,
          0.32958741752649123,
          2.1974990147581916
        ],
        "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": [
          0.34840050745575335,
          -0.3978463977227586,
          -0.10174511989386915,
          -1.2951010705198411,
          0.13262614304441553,
          -0.781070384346773,
          0.16031631136880767
        ],
        "joint_pos_r": [
          -0.49893744091075326,
          -0.902625837678574,
          0.14073478131381745,
          -0.48074751978385305,
          0.33931075691853757,
          0.8686420957432524,
          -0.8656450070128551
        ],
        "eef_pose_l": [
          462.4826865014391,
          341.63260761132034,
          75.25021498876865,
          1.7891497465931168,
          -0.026028250601321284,
          0.6360443728556084
        ],
        "eef_pose_r": [
          602.2159602481531,
          -361.5028919397894,
          -3.0932454242976064,
          1.5896603122782307,
          0.3135855543098705,
          2.160462910690309
        ],
        "joint_status_l": {
          "velocity": [
            -1.4175575385699801,
            0.4500126212647615,
            -0.02347422335158278,
            1.7433227718370858,
            6.104829383676513,
            -2.105909754265056,
            -6.437054794910635
          ],
          "torque": [
            -30.82763671875,
            4.25537109375,
            -10.821533203125,
            -0.35400390625,
            -1.435546875,
            -2.1844482421875,
            -0.70404052734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3627343114334103,
            -2.032992899874131,
            -0.18017197827346898,
            3.5329456282862104,
            -0.7012388399694203,
            6.722070255950285,
            -1.3664349230451123
          ],
          "torque": [
            26.8505859375,
            3.24462890625,
            5.059814453125,
            1.141357421875,
            1.6278076171875,
            3.9678955078125,
            -0.6353759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.8,
            -7.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.8,
            -7.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.7,
            -16.5,
            -1.5,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            1.7,
            -16.5,
            -1.5,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 55,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3343218789041089,
          -0.39304238990391666,
          -0.10206489364209019,
          -1.2788610040568034,
          0.18767501007609164,
          -0.7988988252558201,
          0.1024434548229073
        ],
        "act_joint_pos_r": [
          -0.5019488824878149,
          -0.9242294649849356,
          0.13888540179050918,
          -0.44467710699296803,
          0.334930044933182,
          0.9385869247757611,
          -0.8794487352221334
        ],
        "act_eef_pose_l": [
          462.2326875079824,
          348.47269076978364,
          73.82683144788808,
          1.8221586160515193,
          -0.016413529615720575,
          0.6387120728607447
        ],
        "act_eef_pose_r": [
          598.6966644042034,
          -351.05714812687864,
          -2.427856653080198,
          1.5644411801998106,
          0.32953404436775213,
          2.2008314847602817
        ],
        "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": [
          0.34601104251033205,
          -0.39706371751142056,
          -0.10179093521413138,
          -1.2922399214269507,
          0.1425141064812328,
          -0.7843975986724404,
          0.14990262928881043
        ],
        "joint_pos_r": [
          -0.49950625461255116,
          -0.9061545541246825,
          0.14042675483323236,
          -0.47472146660385045,
          0.33831502454268114,
          0.8802025205247512,
          -0.8679650860136839
        ],
        "eef_pose_l": [
          462.39672594089194,
          342.75152244778025,
          74.94541464925453,
          1.7950101634407598,
          -0.0241878066995343,
          0.6360578482735626
        ],
        "eef_pose_r": [
          601.6509986970291,
          -359.79620609251464,
          -3.0649149652368806,
          1.5857697800421728,
          0.3163745474596648,
          2.1672753564472598
        ],
        "joint_status_l": {
          "velocity": [
            -1.2623924371975015,
            0.434290572894902,
            -0.02958663760832536,
            1.444880461503928,
            4.877233741924725,
            -1.566086281758139,
            -5.125439675554899
          ],
          "torque": [
            -31.39892578125,
            10.2392578125,
            -15.179443359375,
            0.30517578125,
            -1.8218994140625,
            -2.2357177734375,
            -0.67840576171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2637960302802611,
            -1.9520328007773813,
            -0.16646121910302014,
            3.2446951408076075,
            -0.3655670160034319,
            6.305329693350181,
            -1.2401975368412366
          ],
          "torque": [
            28.359375,
            4.013671875,
            5.419921875,
            0.81787109375,
            1.8585205078125,
            4.0301513671875,
            -0.604248046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -16.8,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -16.8,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.8,
            -17.0,
            -1.7,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            1.8,
            -17.0,
            -1.7,
            1.1,
            0.5,
            -0.1
          ]
        },
        "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": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3309790197964919,
          -0.3931166136824084,
          -0.1021678164775685,
          -1.2827707853232542,
          0.18999784381500812,
          -0.7957726334316971,
          0.10247264851821948
        ],
        "act_joint_pos_r": [
          -0.5011705084311564,
          -0.9360249460906057,
          0.1377769557678661,
          -0.4195034348068688,
          0.33776188445614963,
          0.9640721323474384,
          -0.8803756542762244
        ],
        "act_eef_pose_l": [
          462.4926875079824,
          347.4806907697837,
          75.24923144788778,
          1.821152665466341,
          -0.021039000675233135,
          0.6373528013535034
        ],
        "act_eef_pose_r": [
          598.9382644042034,
          -349.5707481268787,
          -1.6246566530801374,
          1.553875018746525,
          0.3316573781286558,
          2.205851682261867
        ],
        "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": [
          0.34371218086838856,
          -0.39641100562767156,
          -0.10184758680537118,
          -1.2904816805629993,
          0.15020046353321959,
          -0.7864287643819436,
          0.14210385664022768
        ],
        "joint_pos_r": [
          -0.49985168911309513,
          -0.9099764599870274,
          0.14009344268499696,
          -0.4679672482194211,
          0.33796273026254847,
          0.8916381723250268,
          -0.8699197768719928
        ],
        "eef_pose_l": [
          462.39743891658014,
          343.5568481338523,
          74.93120600403299,
          1.799297640190243,
          -0.023467674173049458,
          0.6362034781283245
        ],
        "eef_pose_r": [
          601.2296429087054,
          -358.2438061567358,
          -2.9053416539771035,
          1.5814929077639046,
          0.31862533089265854,
          2.173182076693508
        ],
        "joint_status_l": {
          "velocity": [
            -1.375140838153932,
            0.3557838368051236,
            -0.034583784603081646,
            0.8327521251807468,
            4.297990307984945,
            -1.0091080953209541,
            -4.280044244019621
          ],
          "torque": [
            -30.73974609375,
            11.11083984375,
            -15.75927734375,
            0.28076171875,
            -1.8841552734375,
            -1.9482421875,
            -0.65185546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.142428285653029,
            -2.8131535296580523,
            -0.25017320858577996,
            5.233937481821105,
            -0.021690707358246186,
            7.822636966076324,
            -1.1292014556394392
          ],
          "torque": [
            28.3447265625,
            5.0830078125,
            5.2490234375,
            0.054931640625,
            2.81982421875,
            4.29931640625,
            -0.65277099609375
          ]
        },
        "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": [
            1.7,
            -17.3,
            -1.0,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -17.3,
            -1.0,
            1.1,
            0.5,
            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": 104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3293959623605084,
          -0.39512988262636434,
          -0.10171436578782685,
          -1.278692894946692,
          0.18763435802681475,
          -0.7980059923258039,
          0.10657370833188858
        ],
        "act_joint_pos_r": [
          -0.49919297367709436,
          -0.9470311885323597,
          0.13683164149823607,
          -0.3978599407274727,
          0.33536031143342937,
          0.985261951199669,
          -0.8752662919504849
        ],
        "act_eef_pose_l": [
          463.3182875079824,
          347.63029076978364,
          75.86763144788807,
          1.8190714441807576,
          -0.023991294747938326,
          0.6367725537951551
        ],
        "act_eef_pose_r": [
          599.2822644042035,
          -347.4795481268787,
          -0.9446566530800737,
          1.547494624841125,
          0.3309422916144438,
          2.2133563890918793
        ],
        "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": [
          0.3412822142728352,
          -0.3960557123875746,
          -0.10185303744751689,
          -1.2886581687959686,
          0.15697027253381407,
          -0.7883328575067945,
          0.1355595010332436
        ],
        "joint_pos_r": [
          -0.49991502518575004,
          -0.9155273319003767,
          0.1396026791957748,
          -0.4575395685035094,
          0.3377209578746544,
          0.9062650111918588,
          -0.8713296419297146
        ],
        "eef_pose_l": [
          462.5063455500246,
          344.25074141919896,
          75.06337987445997,
          1.802880830366244,
          -0.023400526655027922,
          0.6362487178673764
        ],
        "eef_pose_r": [
          600.9235951733972,
          -356.5287119349395,
          -2.626668566796752,
          1.5760229615173624,
          0.3207657208232528,
          2.179606089019626
        ],
        "joint_status_l": {
          "velocity": [
            -1.2836773464921514,
            0.0999866652620085,
            0.014976097550190026,
            1.0762178343739492,
            3.3116235621279966,
            -1.044667749623862,
            -3.130373286321486
          ],
          "torque": [
            -31.47216796875,
            11.923828125,
            -16.05224609375,
            0.830078125,
            -1.7669677734375,
            -1.885986328125,
            -0.66192626953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.07797926305919134,
            -3.4023161703018445,
            -0.2992632450365962,
            6.445209708512589,
            -0.2549422965314463,
            8.531417900123017,
            -0.4251456632413664
          ],
          "torque": [
            34.57763671875,
            3.662109375,
            5.67626953125,
            -0.2197265625,
            1.981201171875,
            3.9056396484375,
            -0.48065185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.6,
            -6.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.7,
            -16.6,
            -6.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.7,
            -16.6,
            -1.3,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.7,
            -16.6,
            -1.3,
            1.1,
            0.5,
            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": [
          0.32941128830451777,
          -0.39602028202818496,
          -0.10154548408927633,
          -1.2779254107993046,
          0.18629577932481653,
          -0.7969691415664514,
          0.108752036764021
        ],
        "act_joint_pos_r": [
          -0.49729853202637436,
          -0.961781275152161,
          0.135566667885149,
          -0.3670055136800475,
          0.3343711765611359,
          1.0105097890054435,
          -0.8738727209022225
        ],
        "act_eef_pose_l": [
          463.73748750798234,
          347.57269076978366,
          75.88923144788788,
          1.8182927363441064,
          -0.025285007428329162,
          0.6374469076683005
        ],
        "act_eef_pose_r": [
          600.0094644042035,
          -345.9011481268787,
          -0.6006566530800228,
          1.5404216994786382,
          0.33423816887061136,
          2.2185627965704033
        ],
        "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": [
          0.3396310728150808,
          -0.39599121692820655,
          -0.10182158475058889,
          -1.2872176106004243,
          0.16113621481134816,
          -0.7896027112629271,
          0.1316873969920707
        ],
        "joint_pos_r": [
          -0.49962465466118705,
          -0.9223643024577007,
          0.13900409309003348,
          -0.4443377496313752,
          0.33721862304024397,
          0.9224007665366304,
          -0.8719059867028782
        ],
        "eef_pose_l": [
          462.6492634526368,
          344.70775139853504,
          75.17942184728864,
          1.8050509937222607,
          -0.02359340959203265,
          0.636325077246168
        ],
        "eef_pose_r": [
          600.785804008817,
          -354.8042129261032,
          -2.3089535258139904,
          1.5702877240034936,
          0.3227305957974193,
          2.1859811595008845
        ],
        "joint_status_l": {
          "velocity": [
            -1.1037041751262855,
            -0.003138938219127141,
            0.02981799198709112,
            1.0035279810463038,
            2.7171528293155056,
            -0.7955510092578777,
            -2.476945851016543
          ],
          "torque": [
            -31.46484375,
            8.7451171875,
            -16.082763671875,
            0.42724609375,
            -1.8585205078125,
            -1.600341796875,
            -0.5621337890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.25121383540360753,
            -4.256907500225893,
            -0.3712309732551988,
            8.351635164431048,
            -0.30751515006910424,
            9.515493782143558,
            -0.21240102909469982
          ],
          "torque": [
            37.236328125,
            4.39453125,
            5.218505859375,
            0.37841796875,
            2.1258544921875,
            4.0521240234375,
            -0.44219970703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.1,
            -6.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -16.1,
            -6.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            3.0,
            -16.1,
            -3.9,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            3.0,
            -16.1,
            -3.9,
            1.1,
            0.5,
            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": 122,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3291780776683935,
          -0.3962823743120391,
          -0.10150031044958327,
          -1.2778533826270315,
          0.18679017838313192,
          -0.79693116894799,
          0.10852126642788294
        ],
        "act_joint_pos_r": [
          -0.4971576855498041,
          -0.9583398889785215,
          0.13609606593343881,
          -0.38177187897473114,
          0.33524567597897587,
          1.0025781761695722,
          -0.8786279999661654
        ],
        "act_eef_pose_l": [
          463.7990875079824,
          347.48629076978364,
          75.89563144788809,
          1.8184951891313863,
          -0.025517012645838017,
          0.6372385196473274
        ],
        "act_eef_pose_r": [
          599.8526644042036,
          -343.8363481268787,
          0.1273433469198153,
          1.539255736474335,
          0.3358606958719981,
          2.2210511559125465
        ],
        "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": [
          0.33794752351379276,
          -0.395999888527217,
          -0.1017755240262647,
          -1.2856889462964238,
          0.16527967427577864,
          -0.7908131539594486,
          0.12791350259539294
        ],
        "joint_pos_r": [
          -0.49926537655178466,
          -0.9281965048637905,
          0.13850555302620576,
          -0.4332474405423653,
          0.3368247911567611,
          0.9354270312106365,
          -0.8724133165406471
        ],
        "eef_pose_l": [
          462.8289194860274,
          345.170451483135,
          75.29788582879814,
          1.8072125510357868,
          -0.023888762462199627,
          0.6364705500275835
        ],
        "eef_pose_r": [
          600.731944377174,
          -353.3725468952589,
          -2.0260338892940695,
          1.5656370356475962,
          0.3244562238164227,
          2.191006753611323
        ],
        "joint_status_l": {
          "velocity": [
            -0.9470722189015568,
            -0.03050756498801377,
            0.029722189672454213,
            0.8462159184894347,
            2.323065928426793,
            -0.660726131687106,
            -2.0942997380221096
          ],
          "torque": [
            -32.33642578125,
            9.88037109375,
            -15.887451171875,
            1.007080078125,
            -1.9171142578125,
            -1.688232421875,
            -0.618896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2276239148057968,
            -3.255389471810588,
            -0.2602169313308256,
            5.559196689562729,
            -0.17053940941025303,
            7.252109766020531,
            -0.67116601497208
          ],
          "torque": [
            40.01953125,
            3.57421875,
            5.23681640625,
            0.445556640625,
            2.1588134765625,
            4.149169921875,
            -0.50445556640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.2,
            -6.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.2,
            -6.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.4,
            -16.9,
            -2.0,
            1.0,
            0.6,
            -0.1
          ],
          "actual_contact_FT": [
            2.4,
            -16.9,
            -2.0,
            1.0,
            0.6,
            -0.1
          ]
        },
        "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": 145,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32990065354931775,
          -0.3965791284077434,
          -0.10150368461924444,
          -1.279631163184562,
          0.18339886172025222,
          -0.7939231592731847,
          0.1115470424537782
        ],
        "act_joint_pos_r": [
          -0.4937692307821706,
          -0.9736710988287345,
          0.1346304274477656,
          -0.34254749633633874,
          0.32628151883904755,
          1.0328308332747091,
          -0.8683154195959559
        ],
        "act_eef_pose_l": [
          464.00708750798236,
          347.01189076978363,
          76.07563144788793,
          1.8163167403138256,
          -0.026117354383756796,
          0.6382304197505997
        ],
        "act_eef_pose_r": [
          600.3398644042035,
          -343.64434812687864,
          0.0625433469199379,
          1.5375859634777889,
          0.3375935048377172,
          2.2289956083975504
        ],
        "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": [
          0.33635183213604863,
          -0.3960787757951299,
          -0.10172378824906857,
          -1.2843604204369676,
          0.16905469099834514,
          -0.7917113401492359,
          0.12450752228542047
        ],
        "joint_pos_r": [
          -0.4985505330740859,
          -0.935574594002911,
          0.13789516588279513,
          -0.41952770421619806,
          0.3357373618836279,
          0.9515283336371904,
          -0.8727772856947673
        ],
        "eef_pose_l": [
          463.0298044427703,
          345.56260530135586,
          75.42692610090253,
          1.8091477565833203,
          -0.024255894189765145,
          0.6366759829126231
        ],
        "eef_pose_r": [
          600.6805532679908,
          -351.45315139189177,
          -1.6036313235363764,
          1.560078235704658,
          0.3268202274996183,
          2.197672597216021
        ],
        "joint_status_l": {
          "velocity": [
            -0.6967067391006054,
            -0.05403648844115594,
            0.02377049094781647,
            0.5107447196497361,
            1.5491247489736182,
            -0.23886942030948433,
            -1.3996905401515436
          ],
          "torque": [
            -33.8818359375,
            9.07470703125,
            -15.6494140625,
            0.74462890625,
            -1.754150390625,
            -1.776123046875,
            -0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5163654181430388,
            -4.114301176361579,
            -0.35258135215210373,
            8.313617253991268,
            -1.021200930103383,
            8.780410996472199,
            0.48186732675503663
          ],
          "torque": [
            41.0302734375,
            3.427734375,
            5.157470703125,
            0.48828125,
            1.9500732421875,
            3.78662109375,
            0.3021240234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.6,
            -5.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.2,
            -16.6,
            -5.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.9,
            -16.3,
            -1.2,
            1.0,
            0.6,
            -0.1
          ],
          "actual_contact_FT": [
            2.9,
            -16.3,
            -1.2,
            1.0,
            0.6,
            -0.1
          ]
        },
        "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": 116,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33081426728314034,
          -0.3974127757593564,
          -0.10134366098107787,
          -1.278809177869338,
          0.18003899997885575,
          -0.7935814664674036,
          0.11427097573264966
        ],
        "act_joint_pos_r": [
          -0.49127020021111534,
          -0.9823987941451853,
          0.133916571244881,
          -0.32318153414199813,
          0.32200743058946873,
          1.0455147334884853,
          -0.8654592805449195
        ],
        "act_eef_pose_l": [
          464.2526875079824,
          346.87429076978367,
          75.97643144788782,
          1.814599550903695,
          -0.02573353781177736,
          0.6387055563680955
        ],
        "act_eef_pose_r": [
          601.0710644042035,
          -343.09554812687867,
          0.25934334691987715,
          1.5369658862092435,
          0.340552391375405,
          2.2319934878831718
        ],
        "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": [
          0.3353182306705833,
          -0.3961856154533299,
          -0.10168288518745873,
          -1.2835587124883814,
          0.17131372440571363,
          -0.7920648764747876,
          0.12245720785867895
        ],
        "joint_pos_r": [
          -0.49771503035804443,
          -0.9417406617192762,
          0.13736825146372986,
          -0.4069921888113761,
          0.33411434968645803,
          0.96442656350495,
          -0.8719745923204216
        ],
        "eef_pose_l": [
          463.19743553062744,
          345.7947640015318,
          75.53034934826235,
          1.8102733187461955,
          -0.024552502331580458,
          0.636934937743567
        ],
        "eef_pose_r": [
          600.7369221231725,
          -350.26777072882317,
          -1.3439359032750247,
          1.5564920027744742,
          0.3285512592325496,
          2.202462406082677
        ],
        "joint_status_l": {
          "velocity": [
            -0.4864136998388169,
            -0.13252940430463767,
            0.0366351337935944,
            0.5129346106595989,
            0.9423019701881863,
            -0.16378688856644175,
            -0.8840869948590901
          ],
          "torque": [
            -32.57080078125,
            9.7998046875,
            -15.106201171875,
            1.373291015625,
            -1.5399169921875,
            -1.7193603515625,
            -0.65093994140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6960211278226325,
            -4.3909487978854855,
            -0.37277046935846325,
            9.051283750948436,
            -1.3075086995670837,
            8.75726407652433,
            0.7036329192109392
          ],
          "torque": [
            41.85791015625,
            5.01708984375,
            5.419921875,
            0.274658203125,
            1.944580078125,
            4.031982421875,
            0.50628662109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.2,
            -5.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.2,
            -5.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.5,
            -16.2,
            -2.0,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.5,
            -16.2,
            -2.0,
            1.0,
            0.5,
            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": 57,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3324037275733785,
          -0.39721558005632895,
          -0.10141296729406979,
          -1.280083268606782,
          0.1763592566465701,
          -0.7914251256586309,
          0.11689341654683878
        ],
        "act_joint_pos_r": [
          -0.4871689695549284,
          -0.9983102822147216,
          0.13260914603922627,
          -0.2867353967397801,
          0.3169623759406228,
          1.0682932416603128,
          -0.862019901764042
        ],
        "act_eef_pose_l": [
          464.24708750798237,
          346.7118907697837,
          75.82203144788792,
          1.812857918042606,
          -0.02502044570393668,
          0.6400096646511612
        ],
        "act_eef_pose_r": [
          602.4222644042035,
          -342.68514812687863,
          0.6769433469198702,
          1.5348663407179657,
          0.34621019182096546,
          2.2346810488652857
        ],
        "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": [
          0.3346033267492007,
          -0.3964006579308744,
          -0.10162471166652814,
          -1.2827703007138875,
          0.17264708709891016,
          -0.792166369035539,
          0.12113493702974788
        ],
        "joint_pos_r": [
          -0.49601114780196587,
          -0.9514990047413944,
          0.13654413016840392,
          -0.3865140769833213,
          0.33117803347117114,
          0.9829977734590161,
          -0.8703223682610829
        ],
        "eef_pose_l": [
          463.39645109625576,
          345.98420267752533,
          75.60092637901883,
          1.8109416735324715,
          -0.02471505043977785,
          0.6373779524696861
        ],
        "eef_pose_r": [
          601.0657949097473,
          -348.83993216827565,
          -0.9883853837282004,
          1.5520893436253744,
          0.3315108358449007,
          2.2084879817551863
        ],
        "joint_status_l": {
          "velocity": [
            -0.2375497048348052,
            -0.08800899386240957,
            0.02286771777826324,
            0.29019090884396803,
            0.40090248716029286,
            0.08005192370141856,
            -0.45807070208103706
          ],
          "torque": [
            -34.189453125,
            6.02783203125,
            -13.970947265625,
            1.55029296875,
            -1.82373046875,
            -0.325927734375,
            -0.53741455078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.954927086611157,
            -5.055468864034296,
            -0.4249657522563677,
            10.775779651670536,
            -1.5352457336468284,
            9.211638882972828,
            0.8966399367000832
          ],
          "torque": [
            42.6123046875,
            1.8896484375,
            5.377197265625,
            0.018310546875,
            2.1624755859375,
            4.1729736328125,
            0.6903076171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.7,
            -5.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.0,
            -16.7,
            -5.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            3.6,
            -16.0,
            -2.5,
            1.0,
            0.7,
            -0.1
          ],
          "actual_contact_FT": [
            3.6,
            -16.0,
            -2.5,
            1.0,
            0.7,
            -0.1
          ]
        },
        "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": 145,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3342448258948978,
          -0.3973288492273267,
          -0.10138556059581015,
          -1.2797721561914537,
          0.17162963474473772,
          -0.7906613259352357,
          0.12063449022909886
        ],
        "act_joint_pos_r": [
          -0.481805045001233,
          -1.0318830997809694,
          0.12992633040045948,
          -0.2056197985036932,
          0.30995071575417166,
          1.1149341610188188,
          -0.8462608644816061
        ],
        "act_eef_pose_l": [
          464.31508750798235,
          346.77269076978365,
          75.58203144788791,
          1.810746453264622,
          -0.024223638361895956,
          0.6411963698942109
        ],
        "act_eef_pose_r": [
          604.5630644042035,
          -343.4931481268787,
          -0.08465665307994641,
          1.5333375646492595,
          0.3467094976772476,
          2.2353558524068124
        ],
        "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": [
          0.33432140495096385,
          -0.39655132506089225,
          -0.101585680883996,
          -1.282277132171876,
          0.1730285925701679,
          -0.7919909267369957,
          0.12060239353816624
        ],
        "joint_pos_r": [
          -0.4946613283738037,
          -0.9588723184248626,
          0.1359304427717595,
          -0.37037826728340395,
          0.3290786921039405,
          0.9957947099017711,
          -0.8685841477420302
        ],
        "eef_pose_l": [
          463.55087847655216,
          346.1161965812593,
          75.62581289254635,
          1.811158375006079,
          -0.024722553223394058,
          0.6379114410284118
        ],
        "eef_pose_r": [
          601.4589200667004,
          -348.1671741143315,
          -0.8326046964712646,
          1.5495996423548657,
          0.3333856258827106,
          2.2116370401972274
        ],
        "joint_status_l": {
          "velocity": [
            -0.008270294136192291,
            -0.08397013340788462,
            0.021612353701794262,
            0.2705294270466396,
            -0.15108298919197516,
            0.1435926515513941,
            0.003466340386393263
          ],
          "torque": [
            -30.4833984375,
            5.55908203125,
            -12.3046875,
            1.751708984375,
            -3.2427978515625,
            -0.2490234375,
            -0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3884376544583965,
            -7.884931832824904,
            -0.6484250118270474,
            17.79338984022738,
            -2.065760519425641,
            12.866681238162592,
            2.41084348809828
          ],
          "torque": [
            43.54248046875,
            6.29150390625,
            5.511474609375,
            0.860595703125,
            2.2100830078125,
            3.7884521484375,
            0.71502685546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.8,
            -6.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.8,
            -6.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.7,
            -16.5,
            -2.0,
            1.0,
            0.6,
            -0.1
          ],
          "actual_contact_FT": [
            2.7,
            -16.5,
            -2.0,
            1.0,
            0.6,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33455280866070186,
          -0.39718068213941504,
          -0.10143654527292377,
          -1.2806910951454253,
          0.17125219498840036,
          -0.7894169715246488,
          0.1214714169588847
        ],
        "act_joint_pos_r": [
          -0.4822695484477139,
          -1.024700617636258,
          0.1306976775392544,
          -0.22926970708228459,
          0.3115806308873288,
          1.1011874985592747,
          -0.8513159920261156
        ],
        "act_eef_pose_l": [
          464.31028750798237,
          346.6654907697837,
          75.54603144788786,
          1.8105870834661675,
          -0.02478656631073235,
          0.6415473323364552
        ],
        "act_eef_pose_r": [
          604.5222644042035,
          -341.63154812687867,
          0.55214334691982,
          1.5323886055847322,
          0.3469527296566821,
          2.2369747349360436
        ],
        "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": [
          0.33434667764689624,
          -0.3966701255993826,
          -0.10155672311116892,
          -1.2819500376237145,
          0.17273367945959014,
          -0.7915990264583722,
          0.12071353944615387
        ],
        "joint_pos_r": [
          -0.49228955163916716,
          -0.9717689145428308,
          0.13489264939728718,
          -0.34221320967208213,
          0.32566820002947217,
          1.0165841057407345,
          -0.8650012753304187
        ],
        "eef_pose_l": [
          463.68551474713024,
          346.21859645269603,
          75.61356378187659,
          1.811065127263649,
          -0.024705350241430352,
          0.6385364103581399
        ],
        "eef_pose_r": [
          602.2532420853192,
          -347.1669590626433,
          -0.6536337852524241,
          1.5460020270412713,
          0.3359415220682662,
          2.216026214536078
        ],
        "joint_status_l": {
          "velocity": [
            0.022261492923281168,
            -0.05513848010085809,
            0.012978823740517065,
            0.1359617776763855,
            -0.1599956040705397,
            0.23565498257038797,
            0.08184835738656027
          ],
          "torque": [
            -31.2890625,
            6.884765625,
            -11.38916015625,
            1.910400390625,
            -4.1619873046875,
            0.0164794921875,
            0.29937744140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0821284290050137,
            -5.716455336251869,
            -0.4530435988608916,
            12.197538532528807,
            -1.5214125956859448,
            9.136896946031037,
            1.477967006558778
          ],
          "torque": [
            43.740234375,
            2.83447265625,
            4.9560546875,
            0.96435546875,
            2.1954345703125,
            4.0264892578125,
            0.76263427734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -15.8,
            -6.6,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -15.8,
            -6.6,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.7,
            -16.9,
            -1.8,
            1.1,
            0.6,
            -0.1
          ],
          "actual_contact_FT": [
            2.7,
            -16.9,
            -1.8,
            1.1,
            0.6,
            -0.1
          ]
        },
        "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": 204,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3361067805611095,
          -0.3957725210848277,
          -0.10177633942224887,
          -1.2844252987685492,
          0.1684878339515548,
          -0.7841023573458349,
          0.1241166075458355
        ],
        "act_joint_pos_r": [
          -0.4826617372754627,
          -1.0214429813938204,
          0.13114197239487416,
          -0.24117028215608063,
          0.31103969995812925,
          1.098536934379074,
          -0.8530564984187248
        ],
        "act_eef_pose_l": [
          464.24868750798237,
          346.63269076978366,
          75.50763144788795,
          1.8093794012308024,
          -0.025560001010361495,
          0.644486200481009
        ],
        "act_eef_pose_r": [
          603.9222644042034,
          -339.78354812687866,
          0.984943346919863,
          1.5308356665690754,
          0.3467991709295265,
          2.242053731381455
        ],
        "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": [
          0.3345789575495862,
          -0.39658293741448825,
          -0.10157829610103804,
          -1.2821980367605335,
          0.17212337102697362,
          -0.7905434639994612,
          0.12118089002049272
        ],
        "joint_pos_r": [
          -0.4908075735295751,
          -0.9794796655413968,
          0.13430006515927825,
          -0.32625263404347843,
          0.3234759724487912,
          1.0291628461656022,
          -0.8630970363892064
        ],
        "eef_pose_l": [
          463.7885476062447,
          346.2929615110667,
          75.59718645672359,
          1.810825767070414,
          -0.024818819133267247,
          0.6394383931101945
        ],
        "eef_pose_r": [
          602.6322658768247,
          -346.19142940418664,
          -0.442274963570668,
          1.543590180629654,
          0.33760239119603735,
          2.2195760803772933
        ],
        "joint_status_l": {
          "velocity": [
            0.16500001882890913,
            0.08752238226872322,
            -0.021388047883985628,
            -0.24053720260042155,
            -0.39262642424775507,
            0.6956190024061115,
            0.3170481419019211
          ],
          "torque": [
            -25.0048828125,
            10.23193359375,
            -11.676025390625,
            -3.6865234375,
            -4.412841796875,
            0.1263427734375,
            0.325927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8797243693607903,
            -4.531904450684188,
            -0.3410639594120246,
            9.188622999889873,
            -1.3430778170286928,
            7.492180557000516,
            1.0843461197325155
          ],
          "torque": [
            42.64892578125,
            2.21923828125,
            4.608154296875,
            -0.4150390625,
            2.16796875,
            4.4842529296875,
            0.7470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.4,
            -6.2,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.4,
            -6.2,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -17.0,
            -1.8,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -17.0,
            -1.8,
            1.1,
            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": 143,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33580172000904,
          -0.39629092200643357,
          -0.10164955918580044,
          -1.2829996224593243,
          0.1697879821266069,
          -0.7864849874387043,
          0.12208047213632821
        ],
        "act_joint_pos_r": [
          -0.48309051006722875,
          -1.0171820536592318,
          0.13156907701639442,
          -0.25341127682809306,
          0.3098613635936474,
          1.09186085635527,
          -0.8516527422931492
        ],
        "act_eef_pose_l": [
          464.16548750798233,
          346.6142907697837,
          75.36363144788794,
          1.810146248352514,
          -0.024124376347720796,
          0.6432180121303376
        ],
        "act_eef_pose_r": [
          603.6078644042034,
          -338.9435481268787,
          0.980143346919931,
          1.5321570014298707,
          0.3439903128219785,
          2.24440281281137
        ],
        "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": [
          0.33479570063341874,
          -0.39650820657302127,
          -0.10159654725961208,
          -1.2824033109075366,
          0.17167241807757366,
          -0.7897534388114889,
          0.12143374502213745
        ],
        "joint_pos_r": [
          -0.4893160923699605,
          -0.9869314730823971,
          0.13375126421903047,
          -0.31155022316190384,
          0.3209920890205481,
          1.0415237736712146,
          -0.8610405986145943
        ],
        "eef_pose_l": [
          463.8549823720637,
          346.3464455134024,
          75.56643737423536,
          1.8106730067524974,
          -0.02477946016794464,
          0.640124788324339
        ],
        "eef_pose_r": [
          602.9072147781729,
          -344.9160763256199,
          -0.17929251277459457,
          1.5411795474791048,
          0.33903544083993825,
          2.223987439883405
        ],
        "joint_status_l": {
          "velocity": [
            0.10864688819856028,
            0.023466041097819357,
            -0.005725119174959659,
            -0.06439974822392003,
            -0.2035130804070029,
            0.3529823376036134,
            0.06984446838009806
          ],
          "torque": [
            -20.1123046875,
            7.00927734375,
            -11.5966796875,
            -3.99169921875,
            -4.5721435546875,
            0.3424072265625,
            0.3460693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6723430589965496,
            -3.2669663482751687,
            -0.2356692671912075,
            6.278821020124337,
            -1.2020828925658478,
            5.436244596413786,
            1.0138585805563594
          ],
          "torque": [
            43.32275390625,
            3.74267578125,
            4.498291015625,
            0.93994140625,
            2.325439453125,
            3.841552734375,
            0.816650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.5,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.5,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.3,
            -16.5,
            -1.9,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.3,
            -16.5,
            -1.9,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3380971396948394,
          -0.3944241439646489,
          -0.10207438752656578,
          -1.2869894600771263,
          0.16510080374732292,
          -0.7814355081829949,
          0.1260756255229906
        ],
        "act_joint_pos_r": [
          -0.483723896072132,
          -1.020738615877597,
          0.13128167557476408,
          -0.24388819675660597,
          0.31042882339388983,
          1.0986183907667308,
          -0.8483666128118895
        ],
        "act_eef_pose_l": [
          463.9278875079824,
          346.64629076978366,
          75.31723144788799,
          1.808018729257167,
          -0.02436767545786915,
          0.6462566231729268
        ],
        "act_eef_pose_r": [
          603.4718644042034,
          -339.2107481268787,
          0.49534334691975346,
          1.5313573571842878,
          0.34130498293063777,
          2.244523012813907
        ],
        "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": [
          0.3352325949546583,
          -0.3962591363302018,
          -0.10165385904322907,
          -1.2829589683444371,
          0.17081031951731573,
          -0.7886057516354703,
          0.12199891620068128
        ],
        "joint_pos_r": [
          -0.4882951774720975,
          -0.9927282341206755,
          0.13332921635294848,
          -0.3000706537784689,
          0.31909559544738403,
          1.051275389159682,
          -0.8589666230150451
        ],
        "eef_pose_l": [
          463.88342229141347,
          346.3967718123508,
          75.52594443332242,
          1.8103350832043756,
          -0.024693702518130353,
          0.6410132044095695
        ],
        "eef_pose_r": [
          603.0581021645733,
          -343.91374965015945,
          -0.039320963326701985,
          1.539385142723442,
          0.33958155348093305,
          2.2275400554600973
        ],
        "joint_status_l": {
          "velocity": [
            0.30936170780382355,
            0.19817333066995957,
            -0.04541573673477739,
            -0.43528026922423635,
            -0.616609517233746,
            0.7743634542389799,
            0.4402716216920233
          ],
          "torque": [
            -19.951171875,
            11.25,
            -11.834716796875,
            -4.08935546875,
            -4.698486328125,
            0.56396484375,
            0.40557861328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4936838307703084,
            -3.025032011197304,
            -0.22112788222561353,
            6.067526406235757,
            -0.9359837764115753,
            5.112893376831629,
            1.1447673388333968
          ],
          "torque": [
            43.623046875,
            3.310546875,
            4.461669921875,
            0.68359375,
            2.3419189453125,
            4.1326904296875,
            0.8551025390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.3,
            -5.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -5.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.3,
            -16.6,
            -2.4,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.3,
            -16.6,
            -2.4,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33802840034246545,
          -0.39397118302394113,
          -0.10217182827670336,
          -1.2877360264719317,
          0.16608905133276383,
          -0.7809878264940205,
          0.12449472442479964
        ],
        "act_joint_pos_r": [
          -0.4842069762678011,
          -1.0199600160673081,
          0.13134541839925454,
          -0.2452097865712037,
          0.3108411774315858,
          1.0977675564904679,
          -0.84715188353014
        ],
        "act_eef_pose_l": [
          463.8078875079824,
          346.67349076978365,
          75.30203144788794,
          1.8085863308432968,
          -0.02370788706230492,
          0.6465306641923096
        ],
        "act_eef_pose_r": [
          603.3542644042034,
          -339.3803481268787,
          0.3241433469199819,
          1.5315829286616587,
          0.3395138909481825,
          2.2442163863739957
        ],
        "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": [
          0.3356605815975685,
          -0.39593553965356304,
          -0.10172738516469566,
          -1.283645034563396,
          0.17004193932382122,
          -0.7874728151605919,
          0.12246049599641326
        ],
        "joint_pos_r": [
          -0.48759819226212386,
          -0.9972451508491071,
          0.13299980311838044,
          -0.29098365178726476,
          0.3177173497346982,
          1.0589623472891563,
          -0.8570869572910308
        ],
        "eef_pose_l": [
          463.87859101092107,
          346.4368466800415,
          75.49320773302347,
          1.8100358410117807,
          -0.024580885887057546,
          0.6418354276704719
        ],
        "eef_pose_r": [
          603.1424574761073,
          -343.1732780429405,
          0.026252179852122026,
          1.538026900659637,
          0.3396673547448884,
          2.230248154020762
        ],
        "joint_status_l": {
          "velocity": [
            0.2557168824823819,
            0.21214425913917978,
            -0.04799844045844104,
            -0.44181409550958506,
            -0.4268993123119902,
            0.7003581200315523,
            0.21969019084988606
          ],
          "torque": [
            -19.62158203125,
            11.923828125,
            -12.152099609375,
            -4.571533203125,
            -4.82666015625,
            0.435791015625,
            0.487060546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3662405256998902,
            -2.4531330922714645,
            -0.1786682801263595,
            4.943431644611973,
            -0.7426047067808916,
            4.190838991552148,
            1.0729563210212234
          ],
          "torque": [
            43.61572265625,
            1.97021484375,
            4.28466796875,
            0.445556640625,
            2.200927734375,
            4.0081787109375,
            0.79742431640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.3,
            -6.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.3,
            -6.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.7,
            -16.6,
            -2.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.6,
            -2.1,
            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": 127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33789304945767906,
          -0.39418504485398764,
          -0.1021312463255328,
          -1.287554271953581,
          0.16593250720329017,
          -0.7815884272141603,
          0.12498292989003547
        ],
        "act_joint_pos_r": [
          -0.48809212944416824,
          -1.004262715019251,
          0.13257232287538223,
          -0.28033275951428,
          0.3170763894285007,
          1.076554661518169,
          -0.8550813757950689
        ],
        "act_eef_pose_l": [
          463.78868750798233,
          346.5558907697837,
          75.36363144788794,
          1.8083531719534276,
          -0.024002179895243714,
          0.645846750810748
        ],
        "act_eef_pose_r": [
          602.1878644042034,
          -340.1083481268787,
          0.22094334691996664,
          1.5317913072382119,
          0.33824618407811113,
          2.2404806567272004
        ],
        "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": [
          0.33606395848190523,
          -0.39561235765983077,
          -0.10180138706137934,
          -1.284347846632731,
          0.16932537061358874,
          -0.7863939881260851,
          0.12287525516733518
        ],
        "joint_pos_r": [
          -0.48747910382165277,
          -0.9992080409873195,
          0.13286627735110895,
          -0.28742201725073685,
          0.31729053800206664,
          1.0629480197472327,
          -0.8563484637934219
        ],
        "eef_pose_l": [
          463.86418798539603,
          346.46506641697823,
          75.466658478217,
          1.809750266726187,
          -0.024461477274588223,
          0.6425877431715163
        ],
        "eef_pose_r": [
          603.0546047626124,
          -342.63445411786176,
          0.06266862945432194,
          1.5369752133656633,
          0.3394978910711111,
          2.2321098482147326
        ],
        "joint_status_l": {
          "velocity": [
            0.19753599937066824,
            0.15414523676016145,
            -0.035623749862101484,
            -0.34628372155864895,
            -0.3664184413780802,
            0.5189852718352483,
            0.2276221566949177
          ],
          "torque": [
            -19.66552734375,
            11.953125,
            -12.60986328125,
            -4.541015625,
            -4.8431396484375,
            0.435791015625,
            0.48980712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.06620481462471517,
            -0.5458886953215725,
            -0.031746147076017195,
            0.7656172548635709,
            -0.02312736384002534,
            1.469473971442703,
            0.13684146789838536
          ],
          "torque": [
            37.09716796875,
            4.05029296875,
            8.21533203125,
            1.7333984375,
            3.277587890625,
            3.753662109375,
            0.63812255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.6,
            -16.5,
            -2.6,
            1.0,
            0.6,
            0.0
          ],
          "actual_contact_FT": [
            2.6,
            -16.5,
            -2.6,
            1.0,
            0.6,
            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": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33806810137228754,
          -0.3953033054068097,
          -0.10187332912889863,
          -1.285064842559885,
          0.16359042002012766,
          -0.7836912087355088,
          0.12816522949706552
        ],
        "act_joint_pos_r": [
          -0.49405776238172244,
          -0.985626758230424,
          0.13404953545012147,
          -0.32042339006526716,
          0.326316867300895,
          1.0534912677522823,
          -0.8661102621929868
        ],
        "act_eef_pose_l": [
          464.0334875079824,
          346.59589076978364,
          75.36203144788789,
          1.8070687902271867,
          -0.02482753815474453,
          0.644976010478759
        ],
        "act_eef_pose_r": [
          600.2614644042035,
          -341.29874812687865,
          -0.27505665308012794,
          1.5314951867445714,
          0.3368797538439121,
          2.2355281519621872
        ],
        "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": [
          0.33640711049583355,
          -0.39548618443434297,
          -0.10183060484775365,
          -1.284633855344596,
          0.16846119610869667,
          -0.785781608360262,
          0.12360700944979174
        ],
        "joint_pos_r": [
          -0.4882606707689485,
          -0.9979988158714952,
          0.1329809965661003,
          -0.29069251682352265,
          0.3182953963458223,
          1.0627512499353857,
          -0.8573689626620913
        ],
        "eef_pose_l": [
          463.8785017741763,
          346.48527493808797,
          75.44851402371387,
          1.8093563169015139,
          -0.024474292607784026,
          0.6430643371895477
        ],
        "eef_pose_r": [
          602.6907888432169,
          -342.3240937833668,
          0.031384819167641353,
          1.5360175269414844,
          0.33912937292080925,
          2.233029212589421
        ],
        "joint_status_l": {
          "velocity": [
            0.17938172407561126,
            0.019750352468150822,
            -0.004614086278387219,
            -0.046545246471296764,
            -0.5260283031900403,
            0.22575650114209367,
            0.49227324628220437
          ],
          "torque": [
            -19.72412109375,
            9.169921875,
            -13.006591796875,
            -3.314208984375,
            -4.9786376953125,
            0.4559326171875,
            0.44036865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6260674293074864,
            1.3361428178102486,
            0.11539879596866864,
            -3.2108396114560733,
            0.8662933131922124,
            -1.0000485809191773,
            -0.9440325065863675
          ],
          "torque": [
            29.794921875,
            10.9716796875,
            9.70458984375,
            -3.118896484375,
            4.7515869140625,
            1.995849609375,
            -0.5438232421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.6,
            -16.5,
            -1.4,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.6,
            -16.5,
            -1.4,
            1.0,
            0.5,
            -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": 181,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33688016866190257,
          -0.39735594845698335,
          -0.10142993404096178,
          -1.2814113490491044,
          0.16552077222865635,
          -0.7868332880082188,
          0.12688476458267764
        ],
        "act_joint_pos_r": [
          -0.5000895178795539,
          -0.9718303676863127,
          0.13516543489808874,
          -0.34896391174708247,
          0.33694883439359113,
          1.0332411045456766,
          -0.8762800258168746
        ],
        "act_eef_pose_l": [
          464.4598875079824,
          346.5422907697836,
          75.2460314478879,
          1.8080103094037066,
          -0.02486373504809318,
          0.6433086544016468
        ],
        "act_eef_pose_r": [
          598.9726644042034,
          -343.23074812687867,
          -1.4174566530800803,
          1.5320667838362207,
          0.3349330080618114,
          2.2267613327187816
        ],
        "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": [
          0.33654611996863637,
          -0.395687746012147,
          -0.10178759456675424,
          -1.2842924371100783,
          0.16787828962870194,
          -0.7857925175071303,
          0.1242118682913679
        ],
        "joint_pos_r": [
          -0.48989432591420756,
          -0.9944080836341123,
          0.13328258061955015,
          -0.2988007267745323,
          0.3208138299453657,
          1.0589438664612827,
          -0.8599535763780803
        ],
        "eef_pose_l": [
          463.95209132908514,
          346.4973151739703,
          75.4212205855315,
          1.8090862155403409,
          -0.02453621236726341,
          0.6431897272721852
        ],
        "eef_pose_r": [
          602.1655742131352,
          -342.3837274547219,
          -0.15335612381483088,
          1.535284778263883,
          0.3385748414803642,
          2.2324275373718443
        ],
        "joint_status_l": {
          "velocity": [
            0.036076194862122435,
            -0.18016055049052682,
            0.038626197566782317,
            0.3111483337558951,
            -0.25460437005042635,
            -0.11239989905931225,
            0.28866428576335146
          ],
          "torque": [
            -22.27294921875,
            6.64306640625,
            -12.9638671875,
            -0.76904296875,
            -4.874267578125,
            -0.919189453125,
            0.487060546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1010482585747106,
            2.438321407916888,
            0.20334226482254802,
            -5.417464197469801,
            1.7425290872599142,
            -2.7758164185565093,
            -1.7632045364521787
          ],
          "torque": [
            29.09912109375,
            11.08154296875,
            10.284423828125,
            -3.955078125,
            5.1873779296875,
            1.4556884765625,
            -0.655517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.0,
            -6.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.0,
            -6.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.5,
            -16.5,
            -1.7,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.5,
            -16.5,
            -1.7,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3358465046487593,
          -0.4010781726694458,
          -0.10067460633990905,
          -1.2760671731548707,
          0.1651998903923601,
          -0.7913067517639559,
          0.1272560918485728
        ],
        "act_joint_pos_r": [
          -0.5046453871399628,
          -0.9569775600854773,
          0.13649738772990166,
          -0.38234336619009823,
          0.3449124901805929,
          1.012993103170476,
          -0.8837019336661069
        ],
        "act_eef_pose_l": [
          465.1686875079824,
          346.07109076978367,
          75.11643144788792,
          1.8075148702526844,
          -0.024272795822132695,
          0.6405556333101728
        ],
        "act_eef_pose_r": [
          597.4174644042034,
          -343.8235481268787,
          -1.6214566530800312,
          1.5322704036444685,
          0.33152921448182443,
          2.222571762096158
        ],
        "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": [
          0.33648854102034537,
          -0.3964027245180944,
          -0.10163912386863214,
          -1.283179984623432,
          0.16742525152040194,
          -0.7864813327616614,
          0.1247263604437281
        ],
        "joint_pos_r": [
          -0.4920235183861469,
          -0.989219074907216,
          0.13372459604046255,
          -0.3103674146448506,
          0.32425845606610393,
          1.0527044807085033,
          -0.8633757900939235
        ],
        "eef_pose_l": [
          464.12205193561766,
          346.4524353012523,
          75.37519992350096,
          1.8088410656098135,
          -0.024525911021728557,
          0.6428998711488139
        ],
        "eef_pose_r": [
          601.5255658669219,
          -342.60429715845873,
          -0.3902029660874291,
          1.5346621426717253,
          0.3377006567457612,
          2.2310206626550033
        ],
        "joint_status_l": {
          "velocity": [
            -0.06933788311958011,
            -0.5049335081279693,
            0.10416482092490131,
            0.7681609829077729,
            -0.24033191361771955,
            -0.5211298823430965,
            0.2732029340333231
          ],
          "torque": [
            -25.53955078125,
            5.33935546875,
            -10.626220703125,
            -0.128173828125,
            -4.9896240234375,
            -1.3751220703125,
            0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3631216222886877,
            3.481980905211124,
            0.29945267057485125,
            -7.773173509388442,
            2.2305698972218124,
            -4.288702285594859,
            -2.1951587630484326
          ],
          "torque": [
            27.83935546875,
            10.7958984375,
            10.3515625,
            -4.8583984375,
            5.2276611328125,
            1.4776611328125,
            -0.79376220703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.7,
            -16.0,
            -1.8,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.0,
            -1.8,
            1.0,
            0.5,
            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": 192,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33445668918026256,
          -0.4025041173788408,
          -0.10042070504912286,
          -1.2750744811247696,
          0.16732646785789784,
          -0.7920746616067007,
          0.12592940680516188
        ],
        "act_joint_pos_r": [
          -0.5065580078848271,
          -0.9515717605175282,
          0.13700338920690497,
          -0.39422985372585134,
          0.34690807981893323,
          1.0056903627968354,
          -0.8858248643220172
        ],
        "act_eef_pose_l": [
          465.48308750798236,
          345.6726907697837,
          75.27003144788802,
          1.808164352156557,
          -0.02502530795248915,
          0.6391930666218636
        ],
        "act_eef_pose_r": [
          596.7262644042034,
          -344.0419481268787,
          -1.9790566530800788,
          1.5333642293553993,
          0.3300964713727032,
          2.2216204706436726
        ],
        "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": [
          0.3363268686162688,
          -0.39707479386102545,
          -0.10150281956445081,
          -1.2822259307913184,
          0.16726838265068067,
          -0.787134063423902,
          0.12496806815508273
        ],
        "joint_pos_r": [
          -0.4946253451124595,
          -0.9825142274352395,
          0.13430585511754944,
          -0.32531484310054276,
          0.3283880223149322,
          1.0443734960514663,
          -0.8674577423923279
        ],
        "eef_pose_l": [
          464.2724481275307,
          346.381616726138,
          75.35111579881647,
          1.8087119164361734,
          -0.024536722876455513,
          0.642525316208131
        ],
        "eef_pose_r": [
          600.7241254122171,
          -342.890283274758,
          -0.6751676530190593,
          1.5341847724721345,
          0.33644676086113606,
          2.2292339247426494
        ],
        "joint_status_l": {
          "velocity": [
            -0.20197342220118486,
            -0.5863496464653117,
            0.11686492090878797,
            0.772333785219459,
            0.006273017366664746,
            -0.533568866969425,
            0.10382151215670987
          ],
          "torque": [
            -26.87255859375,
            4.0869140625,
            -11.03515625,
            0.933837890625,
            -4.031982421875,
            -1.571044921875,
            0.5438232421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2886895715480406,
            3.3416878692982266,
            0.29132508947604663,
            -7.442601639731095,
            2.0001072204229864,
            -4.177655178146722,
            -1.9835906655263358
          ],
          "torque": [
            28.8134765625,
            10.7373046875,
            10.955810546875,
            -4.50439453125,
            5.1947021484375,
            1.2506103515625,
            -0.677490234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -15.8,
            -6.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -15.8,
            -6.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.7,
            -15.8,
            -2.2,
            1.0,
            0.6,
            -0.1
          ],
          "actual_contact_FT": [
            2.7,
            -15.8,
            -2.2,
            1.0,
            0.6,
            -0.1
          ]
        },
        "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": 177,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3340071650630697,
          -0.4052669369988446,
          -0.09977190790588705,
          -1.2675185517450989,
          0.16389687462858862,
          -0.7969264527019745,
          0.13029954506936897
        ],
        "act_joint_pos_r": [
          -0.5120641819031437,
          -0.9376382389899472,
          0.13833396561998437,
          -0.42532033883830045,
          0.35671537530305436,
          0.9879290394204154,
          -0.8950770263695718
        ],
        "act_eef_pose_l": [
          466.4286875079824,
          346.35189076978367,
          75.26843144788796,
          1.806426000673932,
          -0.026210473854370607,
          0.6389621815301576
        ],
        "act_eef_pose_r": [
          594.8446644042035,
          -344.60194812687865,
          -2.3990566530801516,
          1.5325559252196588,
          0.32703217735102846,
          2.2172293274910313
        ],
        "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": [
          0.3359637936945512,
          -0.3982339480287216,
          -0.10126471321234472,
          -1.2804166986480172,
          0.16703137293502132,
          -0.788357425339679,
          0.1254531355205906
        ],
        "joint_pos_r": [
          -0.49720835144395703,
          -0.9758551322719651,
          0.13489946314048082,
          -0.3401524875678256,
          0.3325393163084058,
          1.0360099314747118,
          -0.8715212516663284
        ],
        "eef_pose_l": [
          464.5552736019398,
          346.30607406404147,
          75.3356206891124,
          1.8084906557268674,
          -0.024706004681233892,
          0.6419193792221186
        ],
        "eef_pose_r": [
          599.9181769779706,
          -343.1801070248929,
          -0.9502665613138959,
          1.5337744657244379,
          0.33514580674609007,
          2.2273832380065564
        ],
        "joint_status_l": {
          "velocity": [
            -0.21130965995519446,
            -0.7595404073263978,
            0.16121821822023819,
            1.392958782391318,
            -0.3385158331039584,
            -0.9254276610972667,
            0.523396794504638
          ],
          "torque": [
            -29.78759765625,
            5.36865234375,
            -10.858154296875,
            1.30615234375,
            -4.921875,
            -1.490478515625,
            0.6939697265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6043823708629112,
            4.127302746170791,
            0.3709153282235311,
            -9.197856660929649,
            2.6109373659406465,
            -5.192583194809863,
            -2.5439486381957366
          ],
          "torque": [
            28.740234375,
            11.66748046875,
            11.004638671875,
            -4.547119140625,
            5.4547119140625,
            1.4447021484375,
            -0.62896728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.1,
            -5.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.1,
            -5.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.4,
            -16.2,
            -2.3,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.4,
            -16.2,
            -2.3,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 185,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33370703942078783,
          -0.4073264846912537,
          -0.09939324143964798,
          -1.2653063479638282,
          0.16367115645372013,
          -0.7986059485177659,
          0.13060328447972488
        ],
        "act_joint_pos_r": [
          -0.5193931171470276,
          -0.9181948736038973,
          0.14031238528759804,
          -0.4699629271902094,
          0.37073469206501386,
          0.9625995483517401,
          -0.9083737500217889
        ],
        "act_eef_pose_l": [
          466.7830875079824,
          345.9206907697836,
          75.1220314478881,
          1.8061678287458656,
          -0.02585902930282091,
          0.6374776643205302
        ],
        "act_eef_pose_r": [
          592.1278644042035,
          -344.92034812687865,
          -2.6358566530800545,
          1.5312286585744581,
          0.322508881595809,
          2.2116613765360222
        ],
        "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": [
          0.33559620571956683,
          -0.39962593659469786,
          -0.10097347016984153,
          -1.277976694080295,
          0.16646089260767802,
          -0.7899935960020019,
          0.12633192161509435
        ],
        "joint_pos_r": [
          -0.5003795547190077,
          -0.9676385149663614,
          0.1356608632441718,
          -0.35859406922541054,
          0.33790818184270044,
          1.0255862540886944,
          -0.8767162724857117
        ],
        "eef_pose_l": [
          464.9129318321161,
          346.2842609839992,
          75.3115894739777,
          1.8081094673205995,
          -0.02494226538505167,
          0.6412890582916151
        ],
        "eef_pose_r": [
          598.9132550610508,
          -343.5039798009177,
          -1.2307052555492817,
          1.5331408089309835,
          0.3335063184915872,
          2.2249894113352737
        ],
        "joint_status_l": {
          "velocity": [
            -0.2040239429037527,
            -0.8316346666745744,
            0.17065966952301004,
            1.36835702304694,
            -0.30128261877160334,
            -0.9301066396725233,
            0.4612935842529531
          ],
          "torque": [
            -30.21240234375,
            3.37646484375,
            -10.845947265625,
            0.775146484375,
            -4.9932861328125,
            -1.6387939453125,
            0.5841064453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.0534041803070835,
            5.339755779467659,
            0.5023495646815368,
            -12.02748192858083,
            3.5451585451475864,
            -6.8023635946010685,
            -3.418906738631655
          ],
          "torque": [
            28.65966796875,
            11.85791015625,
            11.358642578125,
            -4.156494140625,
            5.262451171875,
            1.5966796875,
            -0.67657470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.3,
            -6.2,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.3,
            -6.2,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.8,
            -16.2,
            -1.9,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.2,
            -1.9,
            1.0,
            0.5,
            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": 143,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33383784535393723,
          -0.4092536586315493,
          -0.09906049486313749,
          -1.263827302553159,
          0.1616043560116771,
          -0.7985004135990307,
          0.1326566156954539
        ],
        "act_joint_pos_r": [
          -0.5246268751017702,
          -0.9054975480995056,
          0.14167433653945233,
          -0.498524341302532,
          0.3805148767463975,
          0.9490846112858649,
          -0.9181051056698877
        ],
        "act_eef_pose_l": [
          467.2814875079824,
          345.4822907697837,
          75.06203144788793,
          1.8048832078526114,
          -0.02603597241365901,
          0.6371921230521929
        ],
        "act_eef_pose_r": [
          589.8950644042034,
          -344.93394812687865,
          -2.633456653080202,
          1.5290316794775092,
          0.3200020464393997,
          2.2093432149578134
        ],
        "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": [
          0.335271616572249,
          -0.40112641084739864,
          -0.10067008083539662,
          -1.275629828607211,
          0.1658186238766319,
          -0.7915087230785341,
          0.127235183249832
        ],
        "joint_pos_r": [
          -0.5039548015040615,
          -0.9584196902142689,
          0.13654252412738546,
          -0.37935561165672554,
          0.3441446865884469,
          1.0140707914431337,
          -0.8827563999863968
        ],
        "eef_pose_l": [
          465.28030421508436,
          346.18970882042004,
          75.27222087501255,
          1.807675997702925,
          -0.025112335511487234,
          0.6405940181268025
        ],
        "eef_pose_r": [
          598.0820862132285,
          -343.91463188943703,
          -1.696829626658598,
          1.5334328846593426,
          0.3315955708290154,
          2.222668582429373
        ],
        "joint_status_l": {
          "velocity": [
            -0.15484272473598182,
            -0.8777168738123287,
            0.17383015815763958,
            1.2746352204828781,
            -0.4551275061468463,
            -0.7550803063098854,
            0.5854974358033838
          ],
          "torque": [
            -31.32568359375,
            2.98828125,
            -10.748291015625,
            0.555419921875,
            -4.9932861328125,
            -1.680908203125,
            0.6207275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.2325181039506425,
            5.71542278101056,
            0.5542193946759255,
            -12.869843226011035,
            3.9278646908820214,
            -7.018300463277782,
            -3.8175476212680692
          ],
          "torque": [
            27.18017578125,
            11.923828125,
            11.71875,
            -5.322265625,
            5.2093505859375,
            1.91162109375,
            -0.70220947265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.2,
            -6.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.2,
            -6.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -17.0,
            -1.4,
            1.0,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            1.1,
            -17.0,
            -1.4,
            1.0,
            0.4,
            -0.1
          ]
        },
        "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": 190,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33341412235684675,
          -0.41222735170183206,
          -0.09848672140323214,
          -1.259241236337408,
          0.15985956257957457,
          -0.8021502164458072,
          0.13459242480238384
        ],
        "act_joint_pos_r": [
          -0.52884589729593,
          -0.892685249716659,
          0.1431121191495654,
          -0.5274643939816139,
          0.39045228046984715,
          0.9362357060374442,
          -0.9278369236192987
        ],
        "act_eef_pose_l": [
          467.87828750798235,
          345.17509076978365,
          74.98443144788808,
          1.8036940632350937,
          -0.02591646785745319,
          0.6352187747947671
        ],
        "act_eef_pose_r": [
          587.7118644042034,
          -344.7619481268787,
          -1.8558566530800817,
          1.525565400900303,
          0.31781243349398913,
          2.207374050489695
        ],
        "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": [
          0.3350053601016276,
          -0.40267690095018505,
          -0.10036410233843258,
          -1.2733588849741,
          0.16500001523635136,
          -0.7929212815601473,
          0.12826601668149334
        ],
        "joint_pos_r": [
          -0.5083386762911554,
          -0.9469696671284847,
          0.13767487040509804,
          -0.40514859747575827,
          0.35214136579343164,
          1.0003360870220324,
          -0.8905367818708457
        ],
        "eef_pose_l": [
          465.65309445753564,
          346.0527821365823,
          75.23033747483473,
          1.8071346264379369,
          -0.025249328497582945,
          0.6398914153199763
        ],
        "eef_pose_r": [
          596.1548558281035,
          -344.0950625224833,
          -1.6457280911683938,
          1.5307775890445103,
          0.3294480044378466,
          2.2194280688028294
        ],
        "joint_status_l": {
          "velocity": [
            -0.17184860803265423,
            -1.0314182611219636,
            0.20275116117574044,
            1.5246610852894804,
            -0.5551525135838453,
            -0.9966955716862458,
            0.6832319262076725
          ],
          "torque": [
            -32.75390625,
            3.24462890625,
            -10.53466796875,
            0.482177734375,
            -5.1361083984375,
            -1.9482421875,
            0.5987548828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.21471454900124,
            5.862544173979245,
            0.5872055457005754,
            -13.209716422871942,
            4.1374567572884935,
            -6.922636974072027,
            -4.028296500577788
          ],
          "torque": [
            26.9384765625,
            12.5244140625,
            12.274169921875,
            -4.669189453125,
            5.126953125,
            1.549072265625,
            -0.94940185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.4,
            -5.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.4,
            -5.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.0,
            -16.4,
            -2.6,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.0,
            -16.4,
            -2.6,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33339695648977985,
          -0.4136700979792395,
          -0.09822186076653579,
          -1.2572735656677227,
          0.1592557525999265,
          -0.8037644094494549,
          0.13548430285410712
        ],
        "act_joint_pos_r": [
          -0.5303886039986665,
          -0.8892616041264547,
          0.1435742808622664,
          -0.5354362037784925,
          0.39474593450783096,
          0.931854090030044,
          -0.9320099060419419
        ],
        "act_eef_pose_l": [
          468.11428750798234,
          344.95749076978365,
          74.8420314478879,
          1.803350081138641,
          -0.025837451229916274,
          0.6341130616739326
        ],
        "act_eef_pose_r": [
          587.1974644042034,
          -344.87634812687867,
          -1.7398566530800963,
          1.5243100528590514,
          0.3173995471913656,
          2.205381828101947
        ],
        "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": [
          0.33470331947722926,
          -0.4045863147933072,
          -0.09999011081512925,
          -1.2705482534167514,
          0.16398474332573656,
          -0.7947822785918348,
          0.12952624836063767
        ],
        "joint_pos_r": [
          -0.5121179710037735,
          -0.937031192158786,
          0.13868219070247662,
          -0.4275679762833278,
          0.35934212675722155,
          0.9885667824481716,
          -0.897546827056725
        ],
        "eef_pose_l": [
          466.0917688333229,
          345.87302018080857,
          75.17136585445351,
          1.8064643702394083,
          -0.025361701067192637,
          0.6389270636805446
        ],
        "eef_pose_r": [
          594.7353583439224,
          -344.29894470576016,
          -1.695477798578338,
          1.5293293700043786,
          0.32754630667131257,
          2.216873457251888
        ],
        "joint_status_l": {
          "velocity": [
            -0.14108304162263607,
            -0.981019650452275,
            0.19096537302554228,
            1.4336239944174878,
            -0.510715935626127,
            -0.9700415227777981,
            0.643450907724552
          ],
          "torque": [
            -33.25927734375,
            4.5263671875,
            -10.3515625,
            0.811767578125,
            -5.2532958984375,
            -1.834716796875,
            0.574951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.9731701679046587,
            5.1589633520015,
            0.528330154992207,
            -11.649424988053436,
            3.8234984690062035,
            -6.124790140129122,
            -3.7219027587491738
          ],
          "torque": [
            26.37451171875,
            11.6455078125,
            11.80419921875,
            -4.852294921875,
            5.0665283203125,
            1.75048828125,
            -0.7049560546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.3,
            -5.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -5.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.0,
            -16.4,
            -2.3,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.0,
            -16.4,
            -2.3,
            1.0,
            0.5,
            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": 99,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3335109414575106,
          -0.414574274996938,
          -0.09808351935192605,
          -1.2568785538836622,
          0.15889852577488997,
          -0.8038739687462875,
          0.13627990783960717
        ],
        "act_joint_pos_r": [
          -0.5332112206402502,
          -0.8839188750649827,
          0.14423651763240294,
          -0.5476275393749177,
          0.4024670658646934,
          0.9251632808418773,
          -0.938828502266005
        ],
        "act_eef_pose_l": [
          468.2454875079824,
          344.63509076978363,
          74.73083144788785,
          1.8031181853181448,
          -0.026059450152258495,
          0.6334246252291381
        ],
        "act_eef_pose_r": [
          586.3390644042036,
          -345.1971481268787,
          -1.6902566530800414,
          1.5221439416669607,
          0.316208988198572,
          2.201676111750566
        ],
        "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": [
          0.3344951831365509,
          -0.4061321879174825,
          -0.09969137976380951,
          -1.2683430026098297,
          0.16318656093085313,
          -0.796265265482213,
          0.13055195716771167
        ],
        "joint_pos_r": [
          -0.5156291246549379,
          -0.9280537117667625,
          0.1396130228851105,
          -0.4478525994187543,
          0.3663698015031971,
          0.9778739989529801,
          -0.9043184022082532
        ],
        "eef_pose_l": [
          466.43266966614755,
          345.7051853412225,
          75.10915076421895,
          1.8059426889459071,
          -0.02544682517463533,
          0.6380946129080041
        ],
        "eef_pose_r": [
          593.419128144474,
          -344.4936582777218,
          -1.7139786000994093,
          1.5278681596674093,
          0.32581230335401856,
          2.214277081415659
        ],
        "joint_status_l": {
          "velocity": [
            -0.10629496633418611,
            -0.9117185148808105,
            0.1736438031332277,
            1.2381239459120508,
            -0.4630941386125631,
            -0.8217157173104894,
            0.6186004279202795
          ],
          "torque": [
            -33.25927734375,
            3.58154296875,
            -10.31494140625,
            1.690673828125,
            -5.2899169921875,
            -1.94091796875,
            0.5126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.89881036399564,
            4.7664217856961955,
            0.4993227059715277,
            -10.775375712547053,
            3.898389574186645,
            -5.692589662041669,
            -3.7269808848110486
          ],
          "torque": [
            26.806640625,
            11.93115234375,
            12.40234375,
            -4.833984375,
            5.093994140625,
            1.69921875,
            -0.74981689453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.3,
            -6.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.3,
            -6.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.1,
            -16.4,
            -2.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -16.4,
            -2.1,
            1.0,
            0.5,
            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": 154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3326459511169716,
          -0.4148201554334021,
          -0.09807247804062122,
          -1.2576099653098824,
          0.1607960899608282,
          -0.8030706213090759,
          0.1345707413214309
        ],
        "act_joint_pos_r": [
          -0.5350748531736276,
          -0.8813133642263722,
          0.14461729480418828,
          -0.5546890845116057,
          0.4056925603542249,
          0.9219124836173395,
          -0.9412828267718782
        ],
        "act_eef_pose_l": [
          468.33668750798233,
          344.38709076978364,
          74.87803144788796,
          1.8038344030308076,
          -0.026381543778530157,
          0.633186593094389
        ],
        "act_eef_pose_r": [
          585.7046644042034,
          -344.8987481268787,
          -1.9174566530800803,
          1.5214535310250104,
          0.31447220632086254,
          2.2012523821747103
        ],
        "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": [
          0.3342587936171673,
          -0.40764254829503077,
          -0.09940630042787883,
          -1.2663687277363267,
          0.16256521796160583,
          -0.7975526254306466,
          0.1314414731067904
        ],
        "joint_pos_r": [
          -0.5189480845942479,
          -0.9199562883977682,
          0.1404734635972013,
          -0.46629049229962455,
          0.37311607521625795,
          0.9681874717158754,
          -0.9106970309309336
        ],
        "eef_pose_l": [
          466.7604336456724,
          345.49936534234575,
          75.05164580482602,
          1.8054970543165727,
          -0.025574060936481145,
          0.6372511441989726
        ],
        "eef_pose_r": [
          592.179463555582,
          -344.6337478647995,
          -1.7464009727383427,
          1.526467016356514,
          0.32407457813354,
          2.2118340568517922
        ],
        "joint_status_l": {
          "velocity": [
            -0.17418185280204668,
            -0.7751587088602463,
            0.14404856933836196,
            0.9459184436835244,
            -0.19106018906489552,
            -0.5959259789722893,
            0.3379509998491237
          ],
          "torque": [
            -33.57421875,
            3.837890625,
            -9.735107421875,
            1.531982421875,
            -5.269775390625,
            -1.9390869140625,
            0.4925537109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7416396396576772,
            4.1733127252312485,
            0.44752057144092916,
            -9.546766392070083,
            3.5181566324169466,
            -4.997551319744886,
            -3.3031685290740853
          ],
          "torque": [
            27.72216796875,
            11.44775390625,
            12.542724609375,
            -5.218505859375,
            4.991455078125,
            1.66259765625,
            -0.80291748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.3,
            -6.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -6.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.9,
            -16.5,
            -1.9,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.5,
            -1.9,
            1.0,
            0.5,
            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": 156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3334908290793507,
          -0.4142738424378385,
          -0.09813454554407869,
          -1.2567733815350983,
          0.15923997115987595,
          -0.802985106320456,
          0.1364145310747911
        ],
        "act_joint_pos_r": [
          -0.5356718478607543,
          -0.881039029704863,
          0.14474906478208016,
          -0.5572593627112453,
          0.4044622783338747,
          0.9218161625617591,
          -0.9377520708031389
        ],
        "act_eef_pose_l": [
          468.3686875079824,
          344.93669076978364,
          74.6980314478879,
          1.803509816031996,
          -0.02672855088678021,
          0.6345550290741986
        ],
        "act_eef_pose_r": [
          585.3206644042034,
          -344.0435481268787,
          -2.179856653080151,
          1.521935443541252,
          0.31074990000468933,
          2.2040470557985397
        ],
        "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": [
          0.33403454668238053,
          -0.4088722194568998,
          -0.09917494459191363,
          -1.2647597857515833,
          0.16214022237154982,
          -0.798522087711455,
          0.1321276945000086
        ],
        "joint_pos_r": [
          -0.521439093186064,
          -0.9140707023829926,
          0.1411119776593983,
          -0.4798942858007876,
          0.3779723201098314,
          0.9611562109794843,
          -0.9150852307763777
        ],
        "eef_pose_l": [
          467.04188207500545,
          345.3432162492723,
          75.00720308479703,
          1.8051805058303017,
          -0.025739337208270516,
          0.6366308772092186
        ],
        "eef_pose_r": [
          591.223394264053,
          -344.6442414387336,
          -1.8000069365998854,
          1.5255449640512024,
          0.32244491042850976,
          2.2103219715890425
        ],
        "joint_status_l": {
          "velocity": [
            -0.05871976928073508,
            -0.5833580767142799,
            0.11235978329160456,
            0.8625062171194742,
            -0.3132178929927676,
            -0.48199179418340066,
            0.46296469566264875
          ],
          "torque": [
            -33.08349609375,
            3.49365234375,
            -9.72900390625,
            1.74560546875,
            -5.1690673828125,
            -1.85302734375,
            0.61798095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5370921707562601,
            3.567315436892926,
            0.39279382441503863,
            -8.355181883411777,
            2.860831112493134,
            -4.248599923357688,
            -2.447946524566369
          ],
          "torque": [
            27.06298828125,
            11.630859375,
            12.07275390625,
            -5.859375,
            4.8724365234375,
            1.7779541015625,
            -0.62164306640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.2,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.2,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.6,
            -1.8,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.6,
            -1.8,
            1.0,
            0.5,
            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": [
          0.33443671232599465,
          -0.41466490099475456,
          -0.09798720713842789,
          -1.2534652989477602,
          0.15752330907338194,
          -0.8051992563584883,
          0.138149373539112
        ],
        "act_joint_pos_r": [
          -0.537274619186765,
          -0.8755611931610265,
          0.1456178952805005,
          -0.5769428806473704,
          0.4078135251591876,
          0.9098577829582533,
          -0.9391968279636548
        ],
        "act_eef_pose_l": [
          468.53108750798236,
          345.61829076978364,
          74.28523144788784,
          1.8033430815361096,
          -0.02624810028814999,
          0.6352428439109747
        ],
        "act_eef_pose_r": [
          584.4790644042034,
          -342.00434812687865,
          -1.9406566530801683,
          1.5222842672325563,
          0.3054210892301764,
          2.2055833364155473
        ],
        "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": [
          0.3340066126751372,
          -0.4098554678170285,
          -0.09898036993696248,
          -1.2631092038056633,
          0.16150365923686738,
          -0.7994708310113299,
          0.1330107284209213
        ],
        "joint_pos_r": [
          -0.5238944542926237,
          -0.9082454878509719,
          0.14177254201826242,
          -0.49403195969919544,
          0.38256877645695675,
          0.9538266704100514,
          -0.9189157230832798
        ],
        "eef_pose_l": [
          467.288567616625,
          345.32101419061485,
          74.9221664005677,
          1.8048749511027415,
          -0.025876800157703238,
          0.6363126193410632
        ],
        "eef_pose_r": [
          590.2475215231493,
          -344.4296879401826,
          -1.8557192875077249,
          1.5247989393935613,
          0.3202207167388154,
          2.209295999564123
        ],
        "joint_status_l": {
          "velocity": [
            0.046449392340885964,
            -0.5194034642079792,
            0.10725841882375242,
            1.0415110069281752,
            -0.4298651394618602,
            -0.618651691335792,
            0.5549573051737422
          ],
          "torque": [
            -29.9853515625,
            2.74658203125,
            -9.65576171875,
            1.715087890625,
            -5.1470947265625,
            -1.9281005859375,
            0.58319091796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.4450151901219677,
            3.529799720636717,
            0.4152859041186563,
            -8.954115374886218,
            2.7263524503737813,
            -4.7484997952791375,
            -2.1902947277903095
          ],
          "torque": [
            26.54296875,
            12.333984375,
            12.725830078125,
            -5.8837890625,
            5.028076171875,
            1.688232421875,
            -0.9100341796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.4,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.4,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.0,
            -16.6,
            -2.1,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            2.0,
            -16.6,
            -2.1,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 192,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3354766248858926,
          -0.4136803878807562,
          -0.09823879434791105,
          -1.2571818840730167,
          0.15522677308518018,
          -0.8008886549953029,
          0.1406358560930642
        ],
        "act_joint_pos_r": [
          -0.5400946012578087,
          -0.8712597133703326,
          0.14626876191109212,
          -0.5909133453789006,
          0.4125097726515392,
          0.9015185296872974,
          -0.9393366879214783
        ],
        "act_eef_pose_l": [
          468.41988750798237,
          345.27589076978364,
          74.37643144788791,
          1.8020471832464824,
          -0.027216917806247565,
          0.6367814419006335
        ],
        "act_eef_pose_r": [
          583.5470644042034,
          -340.9659481268787,
          -2.398256653080125,
          1.5225186401832067,
          0.2984101277748984,
          2.205474284766481
        ],
        "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": [
          0.33419466572114925,
          -0.41053502096239314,
          -0.09884548841570931,
          -1.261943180781778,
          0.16059016062833256,
          -0.7999261369948245,
          0.1341360794248458
        ],
        "joint_pos_r": [
          -0.5264123057389505,
          -0.902386951109162,
          0.14247814578925813,
          -0.5092385951160462,
          0.38724883323608933,
          0.9456573654865496,
          -0.922265624333451
        ],
        "eef_pose_l": [
          467.48043676054044,
          345.33129520758837,
          74.82761268471268,
          1.8044776663475044,
          -0.02604505712484704,
          0.6363083449072733
        ],
        "eef_pose_r": [
          589.2591235337327,
          -343.9487493842716,
          -1.9325642954222246,
          1.5242113449110417,
          0.3170859386721051,
          2.208548249383487
        ],
        "joint_status_l": {
          "velocity": [
            0.13844750650138238,
            -0.3396896085732237,
            0.06552102688284211,
            0.5142048788844278,
            -0.5792287712211852,
            -0.10394887824283217,
            0.7019551771062504
          ],
          "torque": [
            -23.59130859375,
            2.138671875,
            -9.661865234375,
            1.580810546875,
            -5.068359375,
            -1.8109130859375,
            0.61248779296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.477644335246442,
            3.361642529447373,
            0.4093744673034916,
            -8.820612878317036,
            2.7281009958306512,
            -4.766853675485905,
            -1.8436204928269362
          ],
          "torque": [
            28.1689453125,
            12.03369140625,
            12.7197265625,
            -4.962158203125,
            4.866943359375,
            2.0745849609375,
            -0.736083984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.6,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.6,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.8,
            -1.8,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.8,
            -1.8,
            1.0,
            0.5,
            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": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3358049207854106,
          -0.41360166115875957,
          -0.09827509301824161,
          -1.2580242932449461,
          0.15420641078404276,
          -0.8006100657100023,
          0.14156514762601055
        ],
        "act_joint_pos_r": [
          -0.540397422678998,
          -0.8703333052870024,
          0.14643670093258646,
          -0.5940749010417841,
          0.4119052508026564,
          0.8994942592353803,
          -0.9363687454977808
        ],
        "act_eef_pose_l": [
          468.3006875079824,
          345.0318907697837,
          74.42603144788796,
          1.801353593614102,
          -0.02719197586498944,
          0.6363627512487035
        ],
        "act_eef_pose_r": [
          583.3398644042035,
          -340.5875481268787,
          -2.531056653079986,
          1.5234728230888046,
          0.2950813984188154,
          2.2065081306777743
        ],
        "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": [
          0.33445837271507184,
          -0.4110822645310316,
          -0.09874231584849726,
          -1.2611964033248653,
          0.1595267280579193,
          -0.8000648814676841,
          0.1353901584635728
        ],
        "joint_pos_r": [
          -0.5288656218376656,
          -0.8967788552870493,
          0.14316730930058147,
          -0.5240361364679903,
          0.3916469637408964,
          0.9376248238497608,
          -0.9249490208894615
        ],
        "eef_pose_l": [
          467.6330535120914,
          345.29379759503803,
          74.7534994646129,
          1.8039697074473813,
          -0.026248116745284364,
          0.6363422166447814
        ],
        "eef_pose_r": [
          588.282533530553,
          -343.4088755472351,
          -2.0402300053879117,
          1.5238513477563516,
          0.313479701032513,
          2.2080140695651775
        ],
        "joint_status_l": {
          "velocity": [
            0.14542290257724133,
            -0.27208681102308674,
            0.05045857747143501,
            0.34257778483848256,
            -0.5745773193264192,
            -0.05887816165195403,
            0.6668791609937275
          ],
          "torque": [
            -21.14501953125,
            2.2265625,
            -12.70751953125,
            1.59912109375,
            -5.284423828125,
            -1.8768310546875,
            0.63262939453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2453977598205768,
            2.8560351657507255,
            0.3530838826040217,
            -7.563963486791003,
            2.187830476059194,
            -4.117979525039672,
            -1.2332938836392415
          ],
          "torque": [
            26.79931640625,
            12.9638671875,
            12.87841796875,
            -5.67626953125,
            4.7296142578125,
            1.7779541015625,
            -0.75439453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.6,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.6,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.1,
            -16.7,
            -2.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -16.7,
            -2.1,
            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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3363324767078235,
          -0.41388673376315666,
          -0.09822876167860167,
          -1.2578637535159276,
          0.15291154230290335,
          -0.8011736218891017,
          0.14268742821012798
        ],
        "act_joint_pos_r": [
          -0.5421723021404574,
          -0.868083337416884,
          0.14687081190279114,
          -0.6041369985812653,
          0.414662028568761,
          0.893862458135392,
          -0.9379096191932336
        ],
        "act_eef_pose_l": [
          468.2318875079824,
          344.8574907697836,
          74.33643144788795,
          1.8006790930225727,
          -0.026824539264671092,
          0.6357688597946528
        ],
        "act_eef_pose_r": [
          582.7142644042035,
          -339.2107481268787,
          -2.801456653080095,
          1.5233808805301279,
          0.29167659767490495,
          2.2076189521590663
        ],
        "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": [
          0.3347559846340591,
          -0.41155988343287364,
          -0.09865447876499969,
          -1.2606174318385752,
          0.1584399346208359,
          -0.8002248678954273,
          0.1366085897701972
        ],
        "joint_pos_r": [
          -0.5310810799196996,
          -0.8918792662091646,
          0.1437885441625429,
          -0.5374204074320102,
          0.3955030026641581,
          0.9303228512242171,
          -0.9271213875202988
        ],
        "eef_pose_l": [
          467.74324675468233,
          345.22757650145195,
          74.68548824957176,
          1.8034314150433557,
          -0.026372285355823095,
          0.6362762425071581
        ],
        "eef_pose_r": [
          587.3938585430551,
          -342.79737290032637,
          -2.162962443392132,
          1.5236409945188532,
          0.30994377526014766,
          2.207771304095483
        ],
        "joint_status_l": {
          "velocity": [
            0.17025612253052103,
            -0.2512924241964143,
            0.04597608933876174,
            0.2973884878425537,
            -0.5970487613249365,
            -0.10246240934908002,
            0.6564951892218396
          ],
          "torque": [
            -20.67626953125,
            1.9775390625,
            -10.601806640625,
            1.40380859375,
            -5.22216796875,
            -1.7303466796875,
            0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.19781667212715,
            2.5698845148740546,
            0.3328750983206952,
            -7.205179338714007,
            2.0691137724480058,
            -3.937606320103093,
            -1.1650946580461508
          ],
          "torque": [
            26.2060546875,
            12.16552734375,
            13.12255859375,
            -5.419921875,
            4.9420166015625,
            1.728515625,
            -0.73883056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.4,
            -6.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.4,
            -6.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.9,
            -16.7,
            -2.6,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.7,
            -2.6,
            1.0,
            0.5,
            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": [
          0.33665924175168604,
          -0.4147361263689377,
          -0.09805700738907802,
          -1.2562060649459035,
          0.15237456392792192,
          -0.802331421326239,
          0.14307934420145468
        ],
        "act_joint_pos_r": [
          -0.5427078428853807,
          -0.8673371474469355,
          0.14699121046709918,
          -0.6063147799467183,
          0.41654385998394444,
          0.8924587518043043,
          -0.9384896844585273
        ],
        "act_eef_pose_l": [
          468.3790875079824,
          344.87829076978363,
          74.09083144788798,
          1.8006397945080392,
          -0.026264586202778266,
          0.6354706892532263
        ],
        "act_eef_pose_r": [
          582.6078644042035,
          -339.1987481268787,
          -2.7854566530800184,
          1.5228416336350838,
          0.2903487098618737,
          2.206755091885895
        ],
        "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": [
          0.3350759011780133,
          -0.41207833204735006,
          -0.09855756363472029,
          -1.2599216536017397,
          0.157394797445297,
          -0.8005385234502684,
          0.13773276943708848
        ],
        "joint_pos_r": [
          -0.5329648570564897,
          -0.8878831243094751,
          0.14430884071823546,
          -0.5486340508696668,
          0.3988650083411184,
          0.924170534454673,
          -0.9289603786966648
        ],
        "eef_pose_l": [
          467.84814121258916,
          345.1646021309635,
          74.59272577040053,
          1.8029408211351778,
          -0.02638005478271039,
          0.6361467293720503
        ],
        "eef_pose_r": [
          586.649078715165,
          -342.2245036238188,
          -2.272279313659851,
          1.5234305587276902,
          0.3068365378655848,
          2.207580175691982
        ],
        "joint_status_l": {
          "velocity": [
            0.17099573870682505,
            -0.28703332113577673,
            0.05405848015971326,
            0.4012717399533017,
            -0.5421692294498293,
            -0.19362725987370766,
            0.5774130446639658
          ],
          "torque": [
            -21.21826171875,
            2.20458984375,
            -12.68310546875,
            1.202392578125,
            -5.1104736328125,
            -1.845703125,
            0.56396484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0522114362023771,
            2.218900058196027,
            0.2896873890043672,
            -6.229335015905946,
            1.9092596668213169,
            -3.4247715180031335,
            -1.02913466957677
          ],
          "torque": [
            25.810546875,
            12.37060546875,
            12.841796875,
            -5.1513671875,
            4.6160888671875,
            1.849365234375,
            -0.6280517578125
          ]
        },
        "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": [
            1.4,
            -16.6,
            -2.0,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.6,
            -2.0,
            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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3364536451365547,
          -0.4160108074677389,
          -0.09779099390124316,
          -1.2533763354480185,
          0.1517862703060477,
          -0.804949474010712,
          0.14385478958384817
        ],
        "act_joint_pos_r": [
          -0.544641613515394,
          -0.8625845346751743,
          0.14759229653804082,
          -0.6177114633848929,
          0.42082036325799926,
          0.8861760987815502,
          -0.9424639679792225
        ],
        "act_eef_pose_l": [
          468.6118875079824,
          344.92469076978364,
          74.01483144788796,
          1.8003011283129258,
          -0.026146034511920754,
          0.6344150147480982
        ],
        "act_eef_pose_r": [
          581.7454644042034,
          -339.0739481268787,
          -2.727056653080126,
          1.5225077889209757,
          0.28887938045888223,
          2.2055024637519294
        ],
        "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": [
          0.3353129948816085,
          -0.4126590996527207,
          -0.09844525680936565,
          -1.2589915134892917,
          0.15650310975459408,
          -0.8011286959560723,
          0.13869922483988936
        ],
        "joint_pos_r": [
          -0.534758901376464,
          -0.8840327419399701,
          0.1448095969431793,
          -0.5592500671548378,
          0.4021966923681161,
          0.9183323599235595,
          -0.9309222550386781
        ],
        "eef_pose_l": [
          467.9617231862674,
          345.12275425195645,
          74.50131544502077,
          1.8025263277514514,
          -0.026345373395163112,
          0.6359147562610529
        ],
        "eef_pose_r": [
          585.931725899832,
          -341.7312977187961,
          -2.355606425977669,
          1.5231987752528267,
          0.3040232843247597,
          2.20725524964439
        ],
        "joint_status_l": {
          "velocity": [
            0.12318659433940837,
            -0.36197376817614924,
            0.07065831012187385,
            0.6064213430168053,
            -0.5094036363859633,
            -0.41263185997486573,
            0.5567845708643882
          ],
          "torque": [
            -20.41259765625,
            2.8564453125,
            -9.6435546875,
            0.93994140625,
            -4.896240234375,
            -1.9134521484375,
            0.62896728515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0673014326312291,
            2.316338067859469,
            0.3005226928018967,
            -6.313644581851907,
            2.011297136069068,
            -3.472773779350291,
            -1.246468234962883
          ],
          "torque": [
            25.80322265625,
            11.43310546875,
            13.189697265625,
            -5.38330078125,
            4.676513671875,
            1.929931640625,
            -0.62164306640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.3,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.3,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.5,
            -16.4,
            -1.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.4,
            -1.1,
            1.0,
            0.5,
            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": 158,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3367378403014578,
          -0.4162137804938502,
          -0.09774472505340487,
          -1.2527534539298184,
          0.1508991574350908,
          -0.8052054067893106,
          0.14506655486731015
        ],
        "act_joint_pos_r": [
          -0.5456579456486588,
          -0.860720936238482,
          0.14783973627485122,
          -0.6222557557972423,
          0.4232864270906562,
          0.8838078031464177,
          -0.9445497267134234
        ],
        "act_eef_pose_l": [
          468.6838875079824,
          345.00069076978366,
          73.95163144788813,
          1.7999305978968654,
          -0.026469199866627272,
          0.6345201622990474
        ],
        "act_eef_pose_r": [
          581.3734644042034,
          -339.04674812687864,
          -2.7342566530801378,
          1.5220053097173667,
          0.28812682750737817,
          2.2046761006536086
        ],
        "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": [
          0.3355504861986557,
          -0.4132772887813561,
          -0.09832374674719926,
          -1.2579202062066854,
          0.15555733739883576,
          -0.8018364947254608,
          0.13976348077057069
        ],
        "joint_pos_r": [
          -0.5364846628440183,
          -0.8803213934968306,
          0.1452916714225486,
          -0.5693128470160126,
          0.4055036245467648,
          0.9128104575527857,
          -0.9330271192347215
        ],
        "eef_pose_l": [
          468.0857814870705,
          345.0972952036492,
          74.40694907731137,
          1.8020884734975244,
          -0.026348220965104845,
          0.6356610097247005
        ],
        "eef_pose_r": [
          585.2355499738765,
          -341.3066980042185,
          -2.421064899370066,
          1.5229401991467568,
          0.30149963865583257,
          2.206825328995364
        ],
        "joint_status_l": {
          "velocity": [
            0.12823046114718295,
            -0.31713175164815866,
            0.06253249863230614,
            0.5579927887851,
            -0.5030685988691719,
            -0.3638317722503004,
            0.5727151111185602
          ],
          "torque": [
            -19.62890625,
            3.3984375,
            -10.321044921875,
            1.416015625,
            -4.89990234375,
            -1.77978515625,
            0.6298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9906853241994362,
            2.116786952607974,
            0.2751828879632434,
            -5.717665514842096,
            1.9204860330326312,
            -3.132194296755486,
            -1.2444049059388007
          ],
          "torque": [
            26.56494140625,
            11.53564453125,
            13.232421875,
            -5.11474609375,
            4.6893310546875,
            2.0306396484375,
            -0.6207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.2,
            -6.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.2,
            -6.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.7,
            -16.6,
            -2.2,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.6,
            -2.2,
            1.0,
            0.5,
            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": 124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3358898094949503,
          -0.4174577729274641,
          -0.0974977372217867,
          -1.2503717636792178,
          0.15354345702308175,
          -0.8076823876066529,
          0.1424022032587685
        ],
        "act_joint_pos_r": [
          -0.5486550763841334,
          -0.8565409440389057,
          0.1483736348123958,
          -0.6321403980507919,
          0.4281252534110637,
          0.8780030868899674,
          -0.9471152148031377
        ],
        "act_eef_pose_l": [
          468.8454875079824,
          344.97269076978364,
          73.7500314478878,
          1.8014297059062108,
          -0.02561845820753482,
          0.6331593659261874
        ],
        "act_eef_pose_r": [
          580.4070644042035,
          -339.0995481268787,
          -3.347856653080271,
          1.52243557338291,
          0.28441980315640064,
          2.2030202431128596
        ],
        "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": [
          0.33564998748524627,
          -0.41390040994241156,
          -0.09820068747686946,
          -1.256802059576328,
          0.15508994456827815,
          -0.8026698376659416,
          0.14033462846239753
        ],
        "joint_pos_r": [
          -0.537933956129462,
          -0.8773539367219365,
          0.1456768894861065,
          -0.5772465617507365,
          0.4082567032373612,
          0.9084416375492691,
          -0.934777897347261
        ],
        "eef_pose_l": [
          468.202564244075,
          345.0784262058559,
          74.3090147442245,
          1.801904366455067,
          -0.02627068724719206,
          0.6353193318691063
        ],
        "eef_pose_r": [
          584.6646114618967,
          -341.0071658770391,
          -2.5026083827565344,
          1.5227581560424193,
          0.2994586408946773,
          2.2063834801451723
        ],
        "joint_status_l": {
          "velocity": [
            0.025900013167490243,
            -0.38418387148775324,
            0.0759163885147851,
            0.6944514751374697,
            -0.16701572901567374,
            -0.5413394276434502,
            0.22329149237743096
          ],
          "torque": [
            -22.7197265625,
            3.81591796875,
            -10.72998046875,
            1.2451171875,
            -5.0299072265625,
            -1.875,
            0.63446044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1578468386375107,
            2.2477369163107497,
            0.29123990557744506,
            -5.928359472789246,
            2.1457401335371884,
            -3.2872665184617844,
            -1.3323909884626062
          ],
          "torque": [
            25.24658203125,
            12.978515625,
            13.494873046875,
            -6.3232421875,
            4.7369384765625,
            1.7742919921875,
            -0.55023193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.3,
            -6.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.3,
            -6.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.5,
            -16.9,
            -2.3,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.9,
            -2.3,
            1.0,
            0.5,
            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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33729971347539617,
          -0.41838925950063,
          -0.09734601502071363,
          -1.2497444909445161,
          0.15078187703347345,
          -0.8070384073309741,
          0.14429733465955513
        ],
        "act_joint_pos_r": [
          -0.5545616069184343,
          -0.8504606587395026,
          0.14926194857779598,
          -0.650191142802834,
          0.4404939025707457,
          0.862647960686604,
          -0.9505755954689122
        ],
        "act_eef_pose_l": [
          469.02868750798234,
          344.7734907697837,
          73.33563144788792,
          1.8003804455573287,
          -0.0244913610519222,
          0.633747071155087
        ],
        "act_eef_pose_r": [
          579.3166644042035,
          -339.09634812687864,
          -5.01665665308019,
          1.5242792151378661,
          0.2729440003425209,
          2.19644129803813
        ],
        "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": [
          0.33587006855266355,
          -0.41464676916184906,
          -0.09805727966984601,
          -1.255586079215484,
          0.15446849351804412,
          -0.8034749431360635,
          0.14093902078086296
        ],
        "joint_pos_r": [
          -0.5408835512537363,
          -0.8722356487502487,
          0.1463514070180549,
          -0.5909732188761555,
          0.4138834668839664,
          0.9002269671373051,
          -0.9377956346730102
        ],
        "eef_pose_l": [
          468.33958237162335,
          345.03485612367126,
          74.15768220667442,
          1.8016900095528747,
          -0.026011514208810236,
          0.6350107729071052
        ],
        "eef_pose_r": [
          583.6771707423808,
          -340.6223474804737,
          -2.8683301735385385,
          1.5227132024351082,
          0.2950396050659106,
          2.2048223152932533
        ],
        "joint_status_l": {
          "velocity": [
            0.1543970979560605,
            -0.4041770360236896,
            0.07681431658912441,
            0.6308729266635282,
            -0.3981428377384244,
            -0.384842782718664,
            0.3626872020114913
          ],
          "torque": [
            -19.921875,
            3.6181640625,
            -10.595703125,
            0.946044921875,
            -5.2569580078125,
            -1.94091796875,
            0.59051513671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.4771864445015659,
            2.3516295635541695,
            0.3143292178073853,
            -6.395347163398846,
            2.873842294724316,
            -4.058413000183059,
            -1.3801950592799983
          ],
          "torque": [
            25.5908203125,
            12.626953125,
            13.36669921875,
            -5.291748046875,
            4.62158203125,
            1.7449951171875,
            -0.7305908203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.4,
            -16.3,
            -2.1,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            1.4,
            -16.3,
            -2.1,
            1.0,
            0.5,
            -0.1
          ]
        },
        "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": 211,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3379691020377797,
          -0.4190221344445406,
          -0.09725498889335049,
          -1.2497225073070657,
          0.1500054606656355,
          -0.8069887780669175,
          0.14430604421133977
        ],
        "act_joint_pos_r": [
          -0.5586516206260024,
          -0.8468706525096741,
          0.14986255599182982,
          -0.6628024261770626,
          0.44587439997922695,
          0.852850683421089,
          -0.9532951250766984
        ],
        "act_eef_pose_l": [
          469.02868750798234,
          344.46389076978363,
          73.07003144788797,
          1.8001373050458094,
          -0.023299593651298828,
          0.6333978374817367
        ],
        "act_eef_pose_r": [
          578.3254644042034,
          -338.2987481268787,
          -6.495856653080182,
          1.5268953369756486,
          0.2671446656932118,
          2.1949705893062874
        ],
        "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": [
          0.33618063120582226,
          -0.4153334325152271,
          -0.09793007943343529,
          -1.2546232686513428,
          0.15377481794618106,
          -0.8040551597245588,
          0.14149209473081711
        ],
        "joint_pos_r": [
          -0.5437087605294109,
          -0.8680285667565697,
          0.14692575477294667,
          -0.6026978295291913,
          0.41912358789291393,
          0.8926081947004072,
          -0.9403257377466698
        ],
        "eef_pose_l": [
          468.45308190473077,
          344.9571246336402,
          73.99240135455636,
          1.8014489271083247,
          -0.025625534218218733,
          0.6347627978963616
        ],
        "eef_pose_r": [
          582.8485511225972,
          -340.29354335154943,
          -3.389154544147459,
          1.5230597390747853,
          0.2906335432813914,
          2.203092771316148
        ],
        "joint_status_l": {
          "velocity": [
            0.19314915322121706,
            -0.39836805912774054,
            0.07290762803369155,
            0.5292666152989511,
            -0.4070785801579824,
            -0.31682143682587594,
            0.3038975809164235
          ],
          "torque": [
            -19.921875,
            4.306640625,
            -10.430908203125,
            0.98876953125,
            -5.291748046875,
            -1.86767578125,
            0.5859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.613781294496519,
            2.284987346565792,
            0.3171651773525852,
            -6.491104993061825,
            2.8890024987475726,
            -4.2936845827092895,
            -1.4006525216050392
          ],
          "torque": [
            25.78125,
            11.337890625,
            13.751220703125,
            -6.182861328125,
            4.54833984375,
            1.8035888671875,
            -0.8734130859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.2,
            -5.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.2,
            -5.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.4,
            -16.4,
            -2.3,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.4,
            -16.4,
            -2.3,
            1.0,
            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": 91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33879428974108033,
          -0.4194727516003865,
          -0.09714204746715219,
          -1.2479449493255805,
          0.14836257953266144,
          -0.8084055589623318,
          0.1459380452180617
        ],
        "act_joint_pos_r": [
          -0.560491065120362,
          -0.8453468271325041,
          0.15013575881033545,
          -0.6684913599176019,
          0.45160974656007014,
          0.8479063845760942,
          -0.9556612643502566
        ],
        "act_eef_pose_l": [
          469.08068750798236,
          344.6726907697836,
          72.78603144788809,
          1.7996482257513013,
          -0.022896436342279697,
          0.6333472619849784
        ],
        "act_eef_pose_r": [
          578.1078644042035,
          -338.20994812687866,
          -6.846256653080218,
          1.5264508224158575,
          0.26333118777543674,
          2.192030318367834
        ],
        "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": [
          0.3364539688504474,
          -0.4158244743307001,
          -0.09783844036266268,
          -1.2539023727813303,
          0.1532043296012435,
          -0.8045071881775931,
          0.14194154870289882
        ],
        "joint_pos_r": [
          -0.545698775134888,
          -0.8652736609171369,
          0.14731173126110506,
          -0.6106028966949028,
          0.4228280509117212,
          0.8873105727354342,
          -0.9420976580468503
        ],
        "eef_pose_l": [
          468.52880219795117,
          344.90717919443557,
          73.859506417987,
          1.8012566939190886,
          -0.02530757329953489,
          0.6345870381325145
        ],
        "eef_pose_r": [
          582.294377790478,
          -340.05069300394314,
          -3.7950651372123048,
          1.523378658196545,
          0.2875076166084238,
          2.201826117875452
        ],
        "joint_status_l": {
          "velocity": [
            0.2527472018076793,
            -0.3940023246484792,
            0.07520821456741267,
            0.6433827576621809,
            -0.5228935854850736,
            -0.4210116276777143,
            0.4316088940135021
          ],
          "torque": [
            -19.70947265625,
            3.30322265625,
            -9.6435546875,
            1.13525390625,
            -5.3118896484375,
            -1.8878173828125,
            0.55023193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5975202020910295,
            2.152034577873607,
            0.3049859802362054,
            -6.251769641961502,
            3.108331454686031,
            -4.255526811154375,
            -1.4648262780259103
          ],
          "torque": [
            26.60888671875,
            12.98583984375,
            14.080810546875,
            -5.9814453125,
            4.661865234375,
            1.724853515625,
            -0.8074951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.4,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.4,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.7,
            -2.1,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.7,
            -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": 190,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33900642057591973,
          -0.41917180774191415,
          -0.09720679429314204,
          -1.2486953483307335,
          0.14873685607052994,
          -0.807778609668744,
          0.14567166337074164
        ],
        "act_joint_pos_r": [
          -0.561750738531373,
          -0.8443769642377867,
          0.1503120754247373,
          -0.6721785771730349,
          0.45550674182084855,
          0.8453940492543462,
          -0.9586726271796626
        ],
        "act_eef_pose_l": [
          468.98148750798237,
          344.63749076978365,
          72.69883144788793,
          1.7999782113019627,
          -0.022856080435640067,
          0.633481415749025
        ],
        "act_eef_pose_r": [
          577.8926644042035,
          -338.07074812687864,
          -7.007056653080099,
          1.5256641283033132,
          0.2621681997788444,
          2.190403123612429
        ],
        "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": [
          0.33691459531454626,
          -0.41648828718772485,
          -0.09771235712055101,
          -1.2528406475152942,
          0.15232120437250077,
          -0.8051902787255244,
          0.14267415629696154
        ],
        "joint_pos_r": [
          -0.5482037579732983,
          -0.8619414238508938,
          0.14778623394042018,
          -0.6203337534779932,
          0.4277860810052017,
          0.8806867167047687,
          -0.9445024413140098
        ],
        "eef_pose_l": [
          468.62482173198583,
          344.8598760803508,
          73.64887918797098,
          1.8009830338321309,
          -0.024846336610858763,
          0.6343629622367936
        ],
        "eef_pose_r": [
          581.6258014484911,
          -339.75497397225763,
          -4.29655489352038,
          1.5236679071008752,
          0.2835355312036418,
          2.200033956769915
        ],
        "joint_status_l": {
          "velocity": [
            0.22591046535502812,
            -0.2898116723137889,
            0.05459917504357925,
            0.4476791083423137,
            -0.3870981997617928,
            -0.27953149752679707,
            0.32372121632140427
          ],
          "torque": [
            -20.830078125,
            2.87109375,
            -13.262939453125,
            0.634765625,
            -5.2056884765625,
            -1.9390869140625,
            0.5291748046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.4630307504863715,
            1.8969056919733163,
            0.27278283500664635,
            -5.5990758231496685,
            2.9937430723574465,
            -3.811495670589693,
            -1.5303349386739384
          ],
          "torque": [
            27.1875,
            13.36669921875,
            14.4287109375,
            -5.194091796875,
            4.808349609375,
            1.94091796875,
            -0.6005859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.6,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.6,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -16.8,
            -2.3,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -16.8,
            -2.3,
            1.0,
            0.5,
            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": 242,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.339248723957106,
          -0.4186193652271489,
          -0.09731624973240789,
          -1.2497401111862536,
          0.14853750055024126,
          -0.8067736850089914,
          0.14588391371883502
        ],
        "act_joint_pos_r": [
          -0.5631492717910684,
          -0.8451288737539422,
          0.1502753289569147,
          -0.6721500008643706,
          0.4571204372054205,
          0.8443860113161301,
          -0.9595341952635856
        ],
        "act_eef_pose_l": [
          468.88388750798237,
          344.65909076978363,
          72.71403144788798,
          1.7999252878314498,
          -0.023008702148193713,
          0.6339785162020819
        ],
        "act_eef_pose_r": [
          577.8286644042036,
          -337.8739481268787,
          -7.818256653080198,
          1.5263617837514514,
          0.2607631027965385,
          2.18967211913109
        ],
        "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": [
          0.33724959460843934,
          -0.4168558003510115,
          -0.09764350709600624,
          -1.252286740695818,
          0.15176274403046675,
          -0.8055107178197455,
          0.14314446676364925
        ],
        "joint_pos_r": [
          -0.5506998147186448,
          -0.8588900937180055,
          0.14823017446497622,
          -0.6294982937641115,
          0.43280367714342827,
          0.8743739950966661,
          -0.9470699698689344
        ],
        "eef_pose_l": [
          468.67202865564303,
          344.8276691482365,
          73.50570103350174,
          1.800827475410259,
          -0.024554409800667212,
          0.6342643018115685
        ],
        "eef_pose_r": [
          580.9880270277066,
          -339.4548833969893,
          -4.824635998735545,
          1.523920221188354,
          0.27971907795545786,
          2.198203353708374
        ],
        "joint_status_l": {
          "velocity": [
            0.21589960203760583,
            -0.19045938932293893,
            0.035342752889966356,
            0.27502787552080576,
            -0.34831602283258434,
            -0.13639643364093956,
            0.29585154548494863
          ],
          "torque": [
            -20.20751953125,
            3.5009765625,
            -12.115478515625,
            0.531005859375,
            -5.15625,
            -2.02880859375,
            0.516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3445017098634438,
            1.4861679239395187,
            0.22087017091187988,
            -4.60624851278979,
            2.626132633053224,
            -3.2386067306982014,
            -1.34609664162344
          ],
          "torque": [
            27.07763671875,
            11.75537109375,
            14.190673828125,
            -4.986572265625,
            4.66552734375,
            1.9281005859375,
            -0.670166015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.5,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.5,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.2,
            -16.6,
            -2.3,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.6,
            -2.3,
            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": 171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34051233314414087,
          -0.4173980725112206,
          -0.09754639984382246,
          -1.2516385598508057,
          0.14602422490969297,
          -0.8042922542945471,
          0.14795713436678162
        ],
        "act_joint_pos_r": [
          -0.5656636632327237,
          -0.8461587461625755,
          0.14995491068189123,
          -0.663135948680265,
          0.4630673807296409,
          0.8440523435012133,
          -0.9616912675721304
        ],
        "act_eef_pose_l": [
          468.74148750798236,
          344.85349076978366,
          72.66523144788795,
          1.7988955022320146,
          -0.0230719134923126,
          0.6358871813250476
        ],
        "act_eef_pose_r": [
          578.4038644042034,
          -341.1019481268787,
          -9.58305665308012,
          1.5284363861951977,
          0.25964126350773475,
          2.180155733652678
        ],
        "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": [
          0.3377115836437748,
          -0.4170627216739845,
          -0.0976054118827776,
          -1.2519995250824283,
          0.1509766390325454,
          -0.8055209012293237,
          0.14380688435103098
        ],
        "joint_pos_r": [
          -0.5530822754109077,
          -0.8565312499394242,
          0.14856867225484052,
          -0.6363895452277882,
          0.4375318697795956,
          0.8690478094228486,
          -0.9494292783904392
        ],
        "eef_pose_l": [
          468.6973004535173,
          344.81435250414154,
          73.36162818902224,
          1.800579023004422,
          -0.024286245475155323,
          0.6343765262861509
        ],
        "eef_pose_r": [
          580.4896568910885,
          -339.4147051547374,
          -5.470258800283034,
          1.5243793753830677,
          0.276330623891449,
          2.1959550674918944
        ],
        "joint_status_l": {
          "velocity": [
            0.302472025103917,
            -0.03621682226340184,
            0.006373112242386014,
            0.03898309527095023,
            -0.5348449508595365,
            0.1326899554756622,
            0.4482137823420551
          ],
          "torque": [
            -19.43115234375,
            7.06787109375,
            -10.882568359375,
            -0.9765625,
            -5.145263671875,
            -0.509033203125,
            0.58502197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3587498105724904,
            1.1201973694445755,
            0.14970933468072545,
            -2.888526380335321,
            2.7577538470024976,
            -2.6994307040846266,
            -1.3242557747856765
          ],
          "torque": [
            26.43310546875,
            13.7548828125,
            14.410400390625,
            -4.9072265625,
            4.647216796875,
            1.783447265625,
            -0.85784912109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.5,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.5,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.9,
            -16.6,
            -2.7,
            1.0,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.9,
            -16.6,
            -2.7,
            1.0,
            0.5,
            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": 185,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3422806188430534,
          -0.41376318723807565,
          -0.09816589811655503,
          -1.2546798586922099,
          0.14218793732973264,
          -0.8004728520645747,
          0.15153494491248665
        ],
        "act_joint_pos_r": [
          -0.5680064583610315,
          -0.8386008516856223,
          0.15082806654359396,
          -0.6769253075168438,
          0.46815460296640815,
          0.8255416308015803,
          -0.9660269827256004
        ],
        "act_eef_pose_l": [
          468.3590875079824,
          345.97509076978366,
          72.84523144788801,
          1.7974719149145522,
          -0.0241699197925021,
          0.6403089615875541
        ],
        "act_eef_pose_r": [
          578.1070644042035,
          -343.3475481268787,
          -10.84065665308026,
          1.5364942328840299,
          0.2577333639535717,
          2.1711671886778405
        ],
        "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": [
          0.33835865043662827,
          -0.4168098292790522,
          -0.09764818419917179,
          -1.252196907956806,
          0.14977152772848348,
          -0.8049756334825479,
          0.1448479667751851
        ],
        "joint_pos_r": [
          -0.5556618371861871,
          -0.8539213458672538,
          0.14890571445876363,
          -0.6426299181337584,
          0.44279594863116,
          0.862732931103503,
          -0.9521196256270216
        ],
        "eef_pose_l": [
          468.67239481621505,
          344.9169484020367,
          73.25430902395226,
          1.8001549677559086,
          -0.024166559346715168,
          0.635020880698698
        ],
        "eef_pose_r": [
          580.092180519777,
          -339.93303092504334,
          -6.338207369798056,
          1.5256895907061212,
          0.2730457888457524,
          2.1921287758766717
        ],
        "joint_status_l": {
          "velocity": [
            0.42356009565613917,
            0.3290276362744038,
            -0.055911454057144816,
            -0.2681507707400499,
            -0.8190036078448149,
            0.4862860509007305,
            0.7221723394938984
          ],
          "torque": [
            -19.35791015625,
            9.990234375,
            -15.606689453125,
            -2.935791015625,
            -5.2423095703125,
            -0.1904296875,
            0.6243896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3331797668474366,
            1.6545645728429648,
            0.2076079020938426,
            -3.703792815842988,
            2.738653895927534,
            -4.016541971034293,
            -1.5019502689908037
          ],
          "torque": [
            25.546875,
            12.4072265625,
            14.19677734375,
            -4.986572265625,
            4.4146728515625,
            2.0855712890625,
            -0.80841064453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.2,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.2,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.8,
            -1.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.8,
            -1.5,
            1.0,
            0.4,
            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": 89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3464308041494206,
          -0.41299817394690663,
          -0.09833500103594287,
          -1.2566407024923771,
          0.11419557966118102,
          -0.8076582162435819,
          0.1692608920890788
        ],
        "act_joint_pos_r": [
          -0.5690058562692748,
          -0.8046605670674023,
          0.15489417289470822,
          -0.7359625386858282,
          0.4751241100883595,
          0.7629016136830671,
          -0.9692729299831517
        ],
        "act_eef_pose_l": [
          467.1982875079824,
          344.39029076978363,
          75.27323144788812,
          1.7785949973985329,
          -0.018357710306584153,
          0.6356924382226701
        ],
        "act_eef_pose_r": [
          576.0214644042035,
          -350.53714812687866,
          -10.300656653080296,
          1.5617609761914415,
          0.2511684525611359,
          2.149205730851831
        ],
        "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": [
          0.33945649011633844,
          -0.4161681971433981,
          -0.09776057487531085,
          -1.2528346864644497,
          0.1459338002808045,
          -0.8047415620068096,
          0.1476344617810596
        ],
        "joint_pos_r": [
          -0.5577632936725868,
          -0.8489555742067971,
          0.14951491355393426,
          -0.6525246078017565,
          0.44746730678907504,
          0.8521024000194832,
          -0.9546399687474441
        ],
        "eef_pose_l": [
          468.510640058225,
          344.9737104510011,
          73.38347547629459,
          1.7980258489627083,
          -0.023660968209026835,
          0.6355989610834528
        ],
        "eef_pose_r": [
          579.6852170411639,
          -341.04092565690496,
          -7.017471095683021,
          1.5290329723788472,
          0.27005374140244526,
          2.186937881056872
        ],
        "joint_status_l": {
          "velocity": [
            0.7532037010169468,
            0.3423524080767848,
            -0.06203619568845298,
            -0.41103760810834444,
            -3.427626734472611,
            -0.3149893674558868,
            2.3355855888513855
          ],
          "torque": [
            -18.984375,
            11.43310546875,
            -15.960693359375,
            -4.058837890625,
            -5.60302734375,
            -1.527099609375,
            0.79833984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2141609506790552,
            4.783719682784238,
            0.5809428748093648,
            -9.011030769332962,
            2.9868466639890734,
            -9.633400802363745,
            -1.5803132046094959
          ],
          "torque": [
            27.32666015625,
            12.919921875,
            14.495849609375,
            -5.79833984375,
            4.4256591796875,
            1.4703369140625,
            -0.7562255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.7,
            -6.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.7,
            -6.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.1,
            -15.9,
            -3.2,
            0.9,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.1,
            -15.9,
            -3.2,
            0.9,
            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": 129,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34711600650577995,
          -0.4175187816226108,
          -0.09732613203654192,
          -1.244285387296529,
          0.10336226565665212,
          -0.8262278448545489,
          0.17418165169425537
        ],
        "act_joint_pos_r": [
          -0.5707474367781904,
          -0.7843242944690515,
          0.15738481817423622,
          -0.7658220567866576,
          0.495140483817845,
          0.7419868380428585,
          -0.9867294524265537
        ],
        "act_eef_pose_l": [
          467.07348750798235,
          344.15109076978365,
          75.77403144788792,
          1.7707269982212828,
          -0.011967159772188148,
          0.627105808759056
        ],
        "act_eef_pose_r": [
          574.0446644042034,
          -355.92514812687864,
          -7.227056653080126,
          1.5605835701019024,
          0.25247091463019655,
          2.1326731623513613
        ],
        "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": [
          0.3406524391053753,
          -0.41597300383176733,
          -0.09778226663827101,
          -1.2525695379199888,
          0.1399350839457637,
          -0.8065599490535829,
          0.15154454143653515
        ],
        "joint_pos_r": [
          -0.5598766442556536,
          -0.8396575637439467,
          0.15064559170838449,
          -0.6694300589091504,
          0.4538004776680609,
          0.8348229591915319,
          -0.9584858451046135
        ],
        "eef_pose_l": [
          468.2793901656526,
          344.8467494116051,
          73.71933987227953,
          1.7943052632398302,
          -0.022283179089189496,
          0.6349540045292698
        ],
        "eef_pose_r": [
          579.0342960641659,
          -343.1764493835325,
          -7.340571992486275,
          1.534258112868223,
          0.26681368617995815,
          2.178727075812571
        ],
        "joint_status_l": {
          "velocity": [
            0.6980446915156868,
            -0.16693907780629402,
            0.04926108410874264,
            0.8946618806930928,
            -3.9497478836372224,
            -2.124070100404829,
            2.4447358042054557
          ],
          "torque": [
            -18.544921875,
            5.91796875,
            -11.4501953125,
            -0.433349609375,
            -5.51513671875,
            -2.149658203125,
            0.66558837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1740109668307852,
            5.975816834393299,
            0.7278149925560307,
            -10.410028743383926,
            4.46458898816271,
            -10.026005382835379,
            -3.0502196293502593
          ],
          "torque": [
            26.6748046875,
            11.54296875,
            14.34326171875,
            -7.11669921875,
            4.471435546875,
            1.67724609375,
            -1.02447509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.3,
            -6.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.3,
            -6.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -17.4,
            -2.9,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -17.4,
            -2.9,
            1.1,
            0.5,
            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": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36027071012803313,
          -0.4084343564685504,
          -0.0991360262892229,
          -1.260568799427802,
          0.057644293686532844,
          -0.7926308689524694,
          0.20146664539971837
        ],
        "act_joint_pos_r": [
          -0.5733943817948669,
          -0.7424860158931067,
          0.16271075969684237,
          -0.8182946279386912,
          0.5323656058444493,
          0.7082924556446164,
          -1.0274150528213069
        ],
        "act_eef_pose_l": [
          468.5214875079824,
          346.7414907697837,
          76.98843144788799,
          1.7492451801065383,
          -0.005404633077408827,
          0.6594046275926048
        ],
        "act_eef_pose_r": [
          569.4894644042034,
          -368.5859481268787,
          -0.32945665308011485,
          1.557521328399022,
          0.26554865461863325,
          2.0999091057202435
        ],
        "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": [
          0.342743729293581,
          -0.41559130740242367,
          -0.09783211474626063,
          -1.252278892931906,
          0.13017235648632888,
          -0.8076149976706758,
          0.15751426859503503
        ],
        "joint_pos_r": [
          -0.5619895411282219,
          -0.826857563508916,
          0.15222115330052877,
          -0.6902563386304685,
          0.4637937346879173,
          0.8159793286136499,
          -0.966413055251609
        ],
        "eef_pose_l": [
          468.15845422871166,
          344.87012666562606,
          74.17108174220911,
          1.7885405049979215,
          -0.019982929853263925,
          0.635784936833374
        ],
        "eef_pose_r": [
          578.0346477011931,
          -346.47675968093023,
          -6.764355308594929,
          1.5378862019367343,
          0.26534961153092324,
          2.167583446673698
        ],
        "joint_status_l": {
          "velocity": [
            1.892858103254902,
            0.772927904568288,
            -0.14081829342627028,
            -0.8952834965825218,
            -7.832799766297582,
            1.618238174183162,
            4.746716697980213
          ],
          "torque": [
            -18.2958984375,
            10.341796875,
            -15.6494140625,
            -1.6845703125,
            -5.2001953125,
            -0.106201171875,
            1.08123779296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2316864653474369,
            9.111858402609307,
            1.132844079351658,
            -13.827727418267877,
            7.405543670069736,
            -11.629839276880993,
            -6.588021434220437
          ],
          "torque": [
            26.44775390625,
            15.849609375,
            14.862060546875,
            -7.989501953125,
            4.6435546875,
            2.1514892578125,
            -1.20941162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.8,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.8,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.3,
            -17.4,
            -5.0,
            1.1,
            0.6,
            0.0
          ],
          "actual_contact_FT": [
            2.3,
            -17.4,
            -5.0,
            1.1,
            0.6,
            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": 145,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36988567233174047,
          -0.4049364112775484,
          -0.09981832872246571,
          -1.2655026198751955,
          0.018975295661281828,
          -0.7831526561439975,
          0.22377180462755852
        ],
        "act_joint_pos_r": [
          -0.5781852307373248,
          -0.7005560669705969,
          0.16836709314536652,
          -0.8581987755860152,
          0.559695965519393,
          0.6878278341787056,
          -1.0529494231115375
        ],
        "act_eef_pose_l": [
          468.91988750798237,
          347.90949076978364,
          78.17403144788801,
          1.7296241836072193,
          0.00408287717015852,
          0.6736832887894056
        ],
        "act_eef_pose_r": [
          563.4702644042035,
          -383.2443481268787,
          5.322543346919929,
          1.5570181103222167,
          0.2737654413243719,
          2.0712952562039253
        ],
        "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": [
          0.34675023414234946,
          -0.41398617033831986,
          -0.09812779757416838,
          -1.2542017297228338,
          0.11367376097265819,
          -0.8040990460289577,
          0.16743113850585145
        ],
        "joint_pos_r": [
          -0.5640747947559177,
          -0.8111462632435628,
          0.1541939473673436,
          -0.7130573010612374,
          0.4762666200821161,
          0.7973775721713939,
          -0.9775626325233121
        ],
        "eef_pose_l": [
          468.2345408041484,
          345.2152028619391,
          74.82718563444837,
          1.7794028771668733,
          -0.01668144866579673,
          0.6410288538508427
        ],
        "eef_pose_r": [
          576.6376940592003,
          -350.95499123128445,
          -5.399643438605295,
          1.5400790712227088,
          0.26593626454466157,
          2.1543626695299603
        ],
        "joint_status_l": {
          "velocity": [
            2.4985536335537795,
            0.9773451533092725,
            -0.1825719793433489,
            -1.2204601409067095,
            -10.227132620475587,
            2.262143389223148,
            6.084612485091734
          ],
          "torque": [
            -18.1787109375,
            14.1357421875,
            -16.876220703125,
            -3.64990234375,
            -5.0628662109375,
            0.498046875,
            1.01898193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5238821414902404,
            11.943388946053624,
            1.5306545997821885,
            -15.674816944661885,
            9.010103568425798,
            -11.83102276584691,
            -8.141533261840195
          ],
          "torque": [
            24.5068359375,
            12.38525390625,
            14.02587890625,
            -6.38427734375,
            4.07958984375,
            2.3529052734375,
            -0.74066162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.5,
            -7.4,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.5,
            -7.4,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -16.7,
            -2.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.7,
            -2.5,
            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": 78,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3773854774938399,
          -0.41032466752059016,
          -0.09853818435972518,
          -1.2493632420481073,
          -0.015525407824187923,
          -0.8013981965945531,
          0.2480923750708765
        ],
        "act_joint_pos_r": [
          -0.5843107534205303,
          -0.6471936042317095,
          0.17786920775289033,
          -0.9351448941423287,
          0.5867496523159068,
          0.6467024491072467,
          -1.0887215304988191
        ],
        "act_eef_pose_l": [
          469.69988750798234,
          348.90389076978363,
          78.570831447888,
          1.7095462030728958,
          0.011171315627328975,
          0.6721504646767492
        ],
        "act_eef_pose_r": [
          554.2222644042034,
          -392.3947481268787,
          12.772143346919847,
          1.5621557130235149,
          0.2848216278903328,
          2.0529259101045447
        ],
        "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": [
          0.3510943413502063,
          -0.4128869348506576,
          -0.09831341236390653,
          -1.2548958659984024,
          0.0956182138720302,
          -0.8019710925887777,
          0.1784468369156489
        ],
        "joint_pos_r": [
          -0.5669255912711808,
          -0.7884921055634161,
          0.15725204453337155,
          -0.7431908563828085,
          0.4925897136740383,
          0.7756184702173827,
          -0.9929703603523352
        ],
        "eef_pose_l": [
          468.36636500666117,
          345.60418456434485,
          75.43759717941364,
          1.7695007608278988,
          -0.012827378768822994,
          0.6459277865246539
        ],
        "eef_pose_r": [
          574.1982246431994,
          -357.577479852805,
          -3.042488578250982,
          1.5419377381709063,
          0.2681567290324388,
          2.13733956904234
        ],
        "joint_status_l": {
          "velocity": [
            2.8393589610962167,
            0.27671671032436507,
            -0.02427465960552766,
            0.5975057641425252,
            -12.003157128995579,
            0.06187094259058057,
            7.521496286089446
          ],
          "torque": [
            -16.66259765625,
            12.69287109375,
            -12.36572265625,
            -0.469970703125,
            -5.1727294921875,
            -0.09521484375,
            1.0089111328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.8775421369845446,
            15.259788080433268,
            2.226587958006565,
            -20.7304246668345,
            10.16897345548129,
            -13.922519657127097,
            -10.340821389595689
          ],
          "torque": [
            22.46337890625,
            18.31787109375,
            15.34423828125,
            -14.349365234375,
            5.1361083984375,
            0.8294677734375,
            -0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.2,
            -7.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.2,
            -7.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -16.6,
            -2.5,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -2.5,
            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": 104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38144943343390453,
          -0.41871694759947725,
          -0.09699387603123084,
          -1.2381971562412522,
          -0.047793888938049464,
          -0.8121602064190199,
          0.27458920112731633
        ],
        "act_joint_pos_r": [
          -0.5930739602068638,
          -0.5938763505124821,
          0.19013815236800818,
          -1.0253576139478373,
          0.6119849657304018,
          0.5977262432291848,
          -1.1238932694523667
        ],
        "act_eef_pose_l": [
          471.53588750798235,
          347.74469076978363,
          80.06843144788792,
          1.6884030527707459,
          0.0118127275349912,
          0.6699897319787449
        ],
        "act_eef_pose_r": [
          543.3934644042034,
          -396.2827481268787,
          19.72254334692002,
          1.5719991310564447,
          0.2915427287701872,
          2.0443710468647747
        ],
        "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": [
          0.3556526371255096,
          -0.41295338364415257,
          -0.0982606244064598,
          -1.2533374695753174,
          0.07547160629680212,
          -0.8025022892386477,
          0.1914359634549078
        ],
        "joint_pos_r": [
          -0.5705086621602405,
          -0.7604110884710469,
          0.16161027805531605,
          -0.7823721857860886,
          0.5107044010697764,
          0.7499790370852248,
          -1.0119437944095504
        ],
        "eef_pose_l": [
          468.53647857364183,
          345.82297530494003,
          75.4411802675638,
          1.7624191301675909,
          -0.008779640927326771,
          0.6489879867052544
        ],
        "eef_pose_r": [
          570.6258192039205,
          -364.5938975544012,
          0.14804141586904507,
          1.544120718680278,
          0.2715713097041737,
          2.1200276528336293
        ],
        "joint_status_l": {
          "velocity": [
            2.7859718334592998,
            -0.622446549095379,
            0.13680478968314258,
            1.6351056152181798,
            -13.312280860627412,
            -1.0430242931223077,
            8.980284809277261
          ],
          "torque": [
            -16.9921875,
            7.4853515625,
            -11.004638671875,
            2.142333984375,
            -6.4764404296875,
            -1.67724609375,
            0.48797607421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.4369803141421897,
            17.985221253778327,
            3.0809195589054372,
            -26.241652285305506,
            10.937978384919056,
            -16.442816781494507,
            -12.090186723626495
          ],
          "torque": [
            22.88818359375,
            18.33984375,
            16.656494140625,
            -15.423583984375,
            4.9658203125,
            0.7415771484375,
            -0.90911865234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.9,
            -7.2,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -16.9,
            -7.2,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -16.8,
            -1.9,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.8,
            -1.9,
            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": 51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38188985560039573,
          -0.43037616745690677,
          -0.09466696339730676,
          -1.2123437043379728,
          -0.06334843663649732,
          -0.8370343921839065,
          0.2904046185634315
        ],
        "act_joint_pos_r": [
          -0.60014043229432,
          -0.5536626826478284,
          0.20096243668262265,
          -1.0803228253885993,
          0.6098119527979939,
          0.5694422913669139,
          -1.1243842885659592
        ],
        "act_eef_pose_l": [
          473.8046875079824,
          348.31909076978366,
          80.41483144788805,
          1.6756702844572633,
          0.009202293734259633,
          0.6624302880316315
        ],
        "act_eef_pose_r": [
          534.5598644042035,
          -401.1283481268787,
          24.10094334691985,
          1.5849624245321159,
          0.2929272063778031,
          2.0430331822565866
        ],
        "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": [
          0.3602454827944139,
          -0.4148130803439918,
          -0.09786887817457718,
          -1.2487964558054239,
          0.05255572036128814,
          -0.8060033624772791,
          0.2072784741944599
        ],
        "joint_pos_r": [
          -0.5753812502129672,
          -0.725476062656812,
          0.16793275703829125,
          -0.8330261757529208,
          0.5296635520977755,
          0.7187684221680288,
          -1.0331485677723287
        ],
        "eef_pose_l": [
          469.243712447541,
          346.1109747712432,
          76.76001673507781,
          1.745082075299673,
          -0.005030144412784187,
          0.652023031821867
        ],
        "eef_pose_r": [
          565.4765999027761,
          -371.94519182181966,
          4.115245504878175,
          1.5481396613544331,
          0.27516083509735234,
          2.1030748194883224
        ],
        "joint_status_l": {
          "velocity": [
            2.337523321480628,
            -1.6807638367151156,
            0.34579659721967193,
            3.9367810493349253,
            -12.51727977832784,
            -3.3512523684109397,
            8.977358818803571
          ],
          "torque": [
            -16.8896484375,
            7.1337890625,
            -9.92431640625,
            0.37841796875,
            -5.39794921875,
            -2.36572265625,
            0.9521484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.673912801943068,
            18.55529778171583,
            3.567100195591255,
            -26.70725047240463,
            8.65577198727463,
            -16.126746493557498,
            -9.85316724207852
          ],
          "torque": [
            24.1845703125,
            16.5087890625,
            15.1123046875,
            -7.14111328125,
            3.662109375,
            2.74658203125,
            -0.6793212890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.1,
            -6.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.1,
            -6.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -18.5,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -18.5,
            -1.2,
            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": 22,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3795304710914471,
          -0.4361076566224184,
          -0.09370274458948648,
          -1.2042400936641424,
          -0.06292437848839566,
          -0.8418996642413671,
          0.29185181811875116
        ],
        "act_joint_pos_r": [
          -0.6059725222240124,
          -0.5375224716498036,
          0.20692666711085228,
          -1.0997979535378766,
          0.6115331891160762,
          0.5580792941005205,
          -1.1292366966733909
        ],
        "act_eef_pose_l": [
          475.2678875079824,
          347.75589076978366,
          80.60763144788785,
          1.6742959390455332,
          0.0066879342349056466,
          0.6597988681740605
        ],
        "act_eef_pose_r": [
          530.8566644042035,
          -404.2507481268787,
          24.937743346919888,
          1.5912117177414975,
          0.2957407439256834,
          2.039145854041957
        ],
        "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": [
          0.3635374771319173,
          -0.41801833670326766,
          -0.09723369314534527,
          -1.241889359160815,
          0.033549469409938415,
          -0.8116537300772827,
          0.22110733073834238
        ],
        "joint_pos_r": [
          -0.5795600762795352,
          -0.6982318983466964,
          0.1733765315585877,
          -0.871968782860977,
          0.5419537896607635,
          0.6952821572591209,
          -1.0473475690086216
        ],
        "eef_pose_l": [
          470.18072959008623,
          346.290365629213,
          77.38024670756101,
          1.732876946776616,
          -0.0024189335302916993,
          0.6529479884846163
        ],
        "eef_pose_r": [
          561.0585454423943,
          -377.34796512268787,
          7.059123865400352,
          1.5526314964234742,
          0.27757691447719685,
          2.0918444030981314
        ],
        "joint_status_l": {
          "velocity": [
            1.7271924068120725,
            -1.9535889332424894,
            0.3813311972703515,
            4.066000753359944,
            -10.418868284925804,
            -3.2664645504985046,
            7.640179302040639
          ],
          "torque": [
            -16.552734375,
            4.7021484375,
            -9.80224609375,
            0.146484375,
            -5.38330078125,
            -2.8564453125,
            0.74432373046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.8524600331918393,
            17.35610619227579,
            3.6233077758940357,
            -24.60482475258896,
            7.514353517163119,
            -14.817472203146664,
            -8.843764954890254
          ],
          "torque": [
            25.0634765625,
            16.7578125,
            15.228271484375,
            -7.70263671875,
            3.9385986328125,
            1.9317626953125,
            -1.00616455078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.8,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -16.8,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -15.9,
            -4.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -15.9,
            -4.0,
            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": 49,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3761104325228054,
          -0.4512453077441672,
          -0.09112222233005901,
          -1.1770212345237852,
          -0.06525013246512049,
          -0.8638609168271765,
          0.30138485343795673
        ],
        "act_joint_pos_r": [
          -0.6193690333843205,
          -0.5034673107937033,
          0.21880238307826058,
          -1.1475294946664358,
          0.6230381816991235,
          0.5238157147724507,
          -1.1400854570363956
        ],
        "act_eef_pose_l": [
          478.44388750798237,
          347.2254907697836,
          80.46683144788796,
          1.6687815586371038,
          -0.001254344930616622,
          0.65016428079924
        ],
        "act_eef_pose_r": [
          522.9262644042035,
          -409.64674812687866,
          25.623343346919683,
          1.6096536617145139,
          0.29377474138938753,
          2.029199290230922
        ],
        "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": [
          0.3659792461088891,
          -0.4229248558325594,
          -0.09631819833865521,
          -1.2321611995913635,
          0.016229637402246835,
          -0.8194796352599373,
          0.23469128547523121
        ],
        "joint_pos_r": [
          -0.585562505471156,
          -0.666429817143426,
          0.18048969807700985,
          -0.9169985230121956,
          0.5554003588581119,
          0.667615503723163,
          -1.0629053293702408
        ],
        "eef_pose_l": [
          471.34787215727175,
          346.3851102363504,
          77.83392553440515,
          1.7229208619580896,
          -0.0013827814281848142,
          0.6525303876421582
        ],
        "eef_pose_r": [
          555.5126787106026,
          -383.5212652712737,
          10.06751595963459,
          1.5595803653288853,
          0.2798238575152983,
          2.0793868688360084
        ],
        "joint_status_l": {
          "velocity": [
            1.0941358628904219,
            -3.0585186002691778,
            0.5611488587274893,
            5.95494059571422,
            -8.799555616655644,
            -4.793037046190385,
            7.202692907902319
          ],
          "torque": [
            -16.5966796875,
            2.54150390625,
            -9.60693359375,
            -0.250244140625,
            -5.3961181640625,
            -2.57080078125,
            0.574951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.650997334211148,
            17.59943161828037,
            4.137647946732104,
            -24.896610652376694,
            7.3046694271203805,
            -15.529919176194618,
            -8.335207954126567
          ],
          "torque": [
            23.06396484375,
            18.9404296875,
            16.156005859375,
            -5.682373046875,
            3.7847900390625,
            2.1624755859375,
            -0.6756591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.5,
            -16.4,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.5,
            -16.4,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -15.9,
            -2.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -15.9,
            -2.6,
            1.0,
            0.3,
            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": -38,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3702230356827437,
          -0.460274081852325,
          -0.08969666791488932,
          -1.1606271628931732,
          -0.053594847706255284,
          -0.874289219863467,
          0.2994549371592093
        ],
        "act_joint_pos_r": [
          -0.6350957877133809,
          -0.47094077422887887,
          0.23244484774038693,
          -1.1945371142619743,
          0.6318519991009067,
          0.48723957645557037,
          -1.1428122123263567
        ],
        "act_eef_pose_l": [
          480.6974875079824,
          347.06549076978365,
          80.19403144788777,
          1.6734836965676767,
          -0.009921806726677097,
          0.6441295674833363
        ],
        "act_eef_pose_r": [
          514.8326644042035,
          -414.2763481268787,
          25.260143346919904,
          1.6317023608634187,
          0.28540521440703903,
          2.020446496471248
        ],
        "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": [
          0.36705917478592065,
          -0.42847865489703485,
          -0.09532221105620262,
          -1.2214658068299113,
          0.003994038494409668,
          -0.8278129642458432,
          0.2454634374964679
        ],
        "joint_pos_r": [
          -0.5926844058060964,
          -0.6364042825488715,
          0.18814507532748653,
          -0.9595723620454754,
          0.5673963696271771,
          0.6403374360405445,
          -1.0758645996827494
        ],
        "eef_pose_l": [
          472.7330480541944,
          346.46479018088024,
          78.17908187125153,
          1.7147594067946235,
          -0.0018329308963521463,
          0.6512092105742758
        ],
        "eef_pose_r": [
          549.8926635953297,
          -389.1634956649281,
          12.323191845104816,
          1.5683554928590202,
          0.28029636687169956,
          2.068098653791363
        ],
        "joint_status_l": {
          "velocity": [
            0.3416868993402211,
            -3.433804836511012,
            0.60754074080549,
            6.570379762175449,
            -6.219416277793877,
            -5.01928757072978,
            5.830909990078403
          ],
          "torque": [
            -15.1171875,
            4.3359375,
            -9.21630859375,
            0.677490234375,
            -5.1617431640625,
            -2.7996826171875,
            0.57586669921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.5802941574315525,
            17.869531864889154,
            4.784234317144476,
            -25.375444830641136,
            6.961002679362949,
            -16.534081188519067,
            -7.230128924255119
          ],
          "torque": [
            22.30224609375,
            17.75390625,
            16.34521484375,
            -6.01806640625,
            3.4808349609375,
            2.1697998046875,
            -0.71044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -16.2,
            -7.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -16.2,
            -7.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -16.4,
            -2.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.4,
            -2.3,
            1.1,
            0.3,
            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": -57,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36740499199530047,
          -0.46215206189212144,
          -0.08960265229874899,
          -1.1629366832694803,
          -0.05426931473001295,
          -0.8628075528536627,
          0.31500082212086783
        ],
        "act_joint_pos_r": [
          -0.6441777666689057,
          -0.4438740845312553,
          0.24491433289553655,
          -1.218771888677345,
          0.5890204940533992,
          0.469676218817606,
          -1.0892672117247257
        ],
        "act_eef_pose_l": [
          482.68628750798234,
          346.7222907697836,
          81.01723144788804,
          1.6735475923627117,
          -0.027562547678846163,
          0.6496964380204105
        ],
        "act_eef_pose_r": [
          507.8726644042035,
          -419.2275481268787,
          25.29454334691991,
          1.6551640788670448,
          0.2728531845558077,
          2.0256412556994663
        ],
        "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": [
          0.36733827470409125,
          -0.43428714735195284,
          -0.094318216452634,
          -1.2109387400249647,
          -0.006255246734083435,
          -0.8348883306264179,
          0.2565558631432497
        ],
        "joint_pos_r": [
          -0.6010864355579464,
          -0.6044567494483022,
          0.19721792738759017,
          -1.003526622334953,
          0.5745324224591397,
          0.6115215044449012,
          -1.0823756360810415
        ],
        "eef_pose_l": [
          474.34200920953936,
          346.51776295262533,
          78.57430345199487,
          1.7076343038529762,
          -0.004744801764540923,
          0.6502269249795805
        ],
        "eef_pose_r": [
          543.4807835094853,
          -394.9602170716732,
          14.203919430275533,
          1.580815264187454,
          0.2785290215679035,
          2.058598899017078
        ],
        "joint_status_l": {
          "velocity": [
            0.007205254942910244,
            -3.0093220151297118,
            0.5092659086245455,
            5.1840692336444505,
            -5.18536640935309,
            -3.015187072353598,
            6.311869410945414
          ],
          "torque": [
            -18.134765625,
            3.40576171875,
            -9.197998046875,
            0.787353515625,
            -5.218505859375,
            -2.5653076171875,
            0.706787109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.653726505656763,
            17.342416323812948,
            5.151059872468,
            -23.24580316666136,
            1.5646655848344793,
            -15.318839042741672,
            -0.7442682184990446
          ],
          "torque": [
            23.3203125,
            17.77587890625,
            17.15087890625,
            -6.988525390625,
            3.25927734375,
            2.3895263671875,
            -0.66375732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.2,
            -7.6,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.2,
            -7.6,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.5,
            -17.8,
            0.0,
            1.2,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -17.8,
            0.0,
            1.2,
            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": -74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.363034702185014,
          -0.4606751360676569,
          -0.08999367756230858,
          -1.1695328235408438,
          -0.04649018586145251,
          -0.849568449591598,
          0.3165969778549171
        ],
        "act_joint_pos_r": [
          -0.6500242666791309,
          -0.41300210495561274,
          0.26225454863574,
          -1.2619668626048122,
          0.5211312669464077,
          0.4359893586514361,
          -1.0121531196912559
        ],
        "act_eef_pose_l": [
          483.7526875079824,
          346.6518907697837,
          81.86603144788802,
          1.678700499731366,
          -0.03840427745151587,
          0.6549549798389053
        ],
        "act_eef_pose_r": [
          499.99746440420347,
          -419.75794812687866,
          27.34574334691979,
          1.6857003634668875,
          0.25841203840929683,
          2.039576976203499
        ],
        "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": [
          0.36691537911971905,
          -0.43906699577589764,
          -0.0935233584736963,
          -1.2031076592679217,
          -0.013970784978664285,
          -0.8385078537416024,
          0.2670481851902023
        ],
        "joint_pos_r": [
          -0.6086725811008376,
          -0.5754062417732542,
          0.20654827332759476,
          -1.0426217777044446,
          0.5710834693082367,
          0.5853095761037643,
          -1.0768855689797365
        ],
        "eef_pose_l": [
          475.92738736007436,
          346.53987921961465,
          79.07064791903449,
          1.7021699510870354,
          -0.009737370218956008,
          0.6504461318192679
        ],
        "eef_pose_r": [
          537.2882165579075,
          -399.6396311811256,
          15.663655325427555,
          1.5956208127986151,
          0.2745040025492334,
          2.054153894756531
        ],
        "joint_status_l": {
          "velocity": [
            -0.4191007482328146,
            -2.3336103253521756,
            0.38119429570515617,
            3.625975316099428,
            -3.5119917146822917,
            -1.1945091216363224,
            5.351111785183216
          ],
          "torque": [
            -26.37451171875,
            5.33935546875,
            -8.575439453125,
            0.59814453125,
            -4.910888671875,
            -2.8436279296875,
            0.69305419921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.465850329240517,
            17.53912948733216,
            6.016100297886018,
            -23.688570512197415,
            -5.394678747533632,
            -16.126107870722883,
            6.990898337631002
          ],
          "torque": [
            20.5224609375,
            15.87158203125,
            15.7958984375,
            -8.306884765625,
            0.19775390625,
            2.7374267578125,
            0.88897705078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.8,
            -6.7,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -16.8,
            -6.7,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.7,
            -3.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.7,
            -3.9,
            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": -131,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36155963631395127,
          -0.46028623122354523,
          -0.09009866797141025,
          -1.1705247179387004,
          -0.04099386886628694,
          -0.8455790702882633,
          0.3196534636690348
        ],
        "act_joint_pos_r": [
          -0.6509790646227218,
          -0.40082533229127054,
          0.27096410320753095,
          -1.2691560567745497,
          0.4484868814241523,
          0.43583501332991925,
          -0.935774389728907
        ],
        "act_eef_pose_l": [
          484.12868750798236,
          346.9222907697836,
          81.67803144788792,
          1.6826605475828833,
          -0.04649546774144448,
          0.656184336287708
        ],
        "act_eef_pose_r": [
          496.17346440420346,
          -420.1755481268787,
          27.678543346919923,
          1.7029640734866738,
          0.25005348838962593,
          2.0573682557779995
        ],
        "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": [
          0.3660433524796329,
          -0.4428384861827252,
          -0.09291251228617466,
          -1.1972963462829826,
          -0.019027833141896634,
          -0.839960711645987,
          0.27619401187848086
        ],
        "joint_pos_r": [
          -0.6160788759251894,
          -0.5454806598920333,
          0.21726390873582543,
          -1.0821189074018567,
          0.5550259114437658,
          0.5588931543366514,
          -1.0578433018741968
        ],
        "eef_pose_l": [
          477.3630899232979,
          346.5940024733033,
          79.53169790906256,
          1.6985202396387702,
          -0.01578482803804916,
          0.6512724906634163
        ],
        "eef_pose_r": [
          530.5350608483157,
          -403.6720313177269,
          17.11098386442535,
          1.6139986632220722,
          0.2685264765979773,
          2.054511131439883
        ],
        "joint_status_l": {
          "velocity": [
            -0.48422706437989405,
            -1.8843008899240843,
            0.3038862233495365,
            2.891250588303862,
            -2.372261892109595,
            -0.6067648377934276,
            4.693482366516788
          ],
          "torque": [
            -31.88232421875,
            3.28125,
            -8.92333984375,
            -0.08544921875,
            -4.9493408203125,
            -2.369384765625,
            0.70404052734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.7691092153995243,
            15.622314625342248,
            5.799449957310632,
            -20.199416382308932,
            -11.505875894448625,
            -13.289887264454237,
            13.183053698305969
          ],
          "torque": [
            21.5478515625,
            16.23046875,
            17.779541015625,
            -6.4453125,
            -0.17578125,
            2.310791015625,
            0.76080322265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -16.2,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.2,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -17.1,
            -1.7,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.1,
            -1.7,
            1.1,
            0.4,
            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": -188,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37478802958136553,
          -0.4655068741186414,
          -0.0893043817294912,
          -1.161607593701392,
          -0.09300675916713975,
          -0.8492488209012123,
          0.38086154251330034
        ],
        "act_joint_pos_r": [
          -0.6493112532432836,
          -0.37445698585630505,
          0.28827951599297785,
          -1.2874122232571763,
          0.2818840127184931,
          0.43827109796543334,
          -0.7546017672021156
        ],
        "act_eef_pose_l": [
          485.9718875079824,
          347.8558907697836,
          81.9308314478879,
          1.653964870465668,
          -0.06343885964788963,
          0.6664858709814268
        ],
        "act_eef_pose_r": [
          487.70226440420345,
          -420.26994812687866,
          28.634543346919827,
          1.7440785626203315,
          0.22485459384504086,
          2.0960140130969283
        ],
        "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": [
          0.3667989796968557,
          -0.4462959261804649,
          -0.09236029990165025,
          -1.1918889819628136,
          -0.02850822836268092,
          -0.8412984486245548,
          0.2902454354981917
        ],
        "joint_pos_r": [
          -0.622061322147463,
          -0.5169289031991594,
          0.22871247464073846,
          -1.117248725198282,
          0.5173889771870456,
          0.5374103351268187,
          -1.0158164617419811
        ],
        "eef_pose_l": [
          478.67861146015247,
          346.7196008244095,
          79.91508386791986,
          1.6926529204916407,
          -0.022669517271217444,
          0.6528449608356787
        ],
        "eef_pose_r": [
          523.535954553413,
          -406.57279530925086,
          18.441741811090083,
          1.6355209327728513,
          0.25971474241925663,
          2.0630851108829056
        ],
        "joint_status_l": {
          "velocity": [
            0.8627919408388252,
            -2.0747211866924964,
            0.33002942889548414,
            3.2702934800834527,
            -6.965635886432703,
            -0.85861488238681,
            9.786250927589002
          ],
          "torque": [
            -18.25927734375,
            4.482421875,
            -9.4970703125,
            0.6591796875,
            -5.60302734375,
            -2.7301025390625,
            0.7489013671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.9429057619827503,
            15.386513272077185,
            6.433050733352541,
            -18.37711578630241,
            -25.433786033182137,
            -10.706721835548993,
            28.210354990360287
          ],
          "torque": [
            20.712890625,
            19.599609375,
            19.329833984375,
            -4.864501953125,
            -0.2435302734375,
            2.07275390625,
            0.8807373046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -17.4,
            -7.6,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -17.4,
            -7.6,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.7,
            -17.4,
            -2.2,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.7,
            -17.4,
            -2.2,
            1.1,
            0.5,
            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": -202,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3825711203691766,
          -0.4725028650667713,
          -0.08825917991345257,
          -1.1496386751170153,
          -0.13160049228705265,
          -0.854546218239077,
          0.41530365114140255
        ],
        "act_joint_pos_r": [
          -0.6418368518724455,
          -0.3551401966698721,
          0.3032348029836986,
          -1.2960021498728833,
          0.1237678290528872,
          0.463351524554892,
          -0.5768046472674873
        ],
        "act_eef_pose_l": [
          488.4750875079824,
          348.8214907697837,
          82.56763144788789,
          1.6315942288396315,
          -0.06656540073647774,
          0.6765134668010149
        ],
        "act_eef_pose_r": [
          480.5134644042035,
          -418.8123481268787,
          30.981743346919757,
          1.7771036434427796,
          0.1936300936933776,
          2.1373532891774416
        ],
        "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": [
          0.3691923493421506,
          -0.4505742300710087,
          -0.0916882697506556,
          -1.1850266342766167,
          -0.04477575934663858,
          -0.8433717283880018,
          0.3106075786809372
        ],
        "joint_pos_r": [
          -0.625697651181259,
          -0.49132742340285795,
          0.24019261524469498,
          -1.146192122261709,
          0.460830782772523,
          0.5239424530379101,
          -0.9528108551917112
        ],
        "eef_pose_l": [
          480.26639163400137,
          346.9551097055775,
          80.36359247918571,
          1.682951715704426,
          -0.030133073874778357,
          0.6557489502642281
        ],
        "eef_pose_r": [
          516.767283307932,
          -408.1967973458258,
          20.054415928356292,
          1.657177708692903,
          0.24787460580468218,
          2.0787748941097886
        ],
        "joint_status_l": {
          "velocity": [
            1.4448646569134027,
            -2.3682227325463323,
            0.370330780095407,
            3.8217868716596826,
            -9.376794603790762,
            -1.206809310978052,
            11.306842348240753
          ],
          "torque": [
            -18.25927734375,
            3.427734375,
            -9.747314453125,
            -0.115966796875,
            -5.4730224609375,
            -2.79052734375,
            0.65826416015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7429822681336304,
            14.707786704180936,
            6.808355474101191,
            -16.179005807737568,
            -36.401725390219575,
            -6.5436272821957076,
            40.60747280242527
          ],
          "torque": [
            21.64306640625,
            19.15283203125,
            19.122314453125,
            -6.06689453125,
            -0.6591796875,
            2.7191162109375,
            0.98876953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.6,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.6,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            2.4,
            -17.4,
            -1.3,
            1.2,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            2.4,
            -17.4,
            -1.3,
            1.2,
            0.5,
            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": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3816269002294006,
          -0.47909572127197947,
          -0.08736965375232948,
          -1.140710938794386,
          -0.13622257132979784,
          -0.856021232765835,
          0.42700063958747353
        ],
        "act_joint_pos_r": [
          -0.6612033130947493,
          -0.3365132614412895,
          0.32134391570290355,
          -1.3241392152805844,
          0.15128641195347867,
          0.4574564142071914,
          -0.5996860911815701
        ],
        "act_eef_pose_l": [
          490.6742875079824,
          348.59749076978363,
          82.57723144788798,
          1.628428320880263,
          -0.07542993648647449,
          0.6782797235753696
        ],
        "act_eef_pose_r": [
          475.14626440420346,
          -419.08434812687864,
          35.183343346919855,
          1.7655507599951192,
          0.19170955994172062,
          2.132563946964962
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3711292639993672,
          -0.4545586488959753,
          -0.09107927386227338,
          -1.1787669168519257,
          -0.058415063220573465,
          -0.8452146736602766,
          0.3276633713813841
        ],
        "joint_pos_r": [
          -0.6304774865388016,
          -0.4653956449021207,
          0.2531402306011294,
          -1.175478453511474,
          0.4039723603011267,
          0.512643109148721,
          -0.8886057040118053
        ],
        "eef_pose_l": [
          481.72010776663063,
          347.14821292327355,
          80.70913625869477,
          1.6748096586344885,
          -0.036431705766413004,
          0.6584414352295719
        ],
        "eef_pose_r": [
          509.7382861390602,
          -409.7979706035965,
          22.087071316558024,
          1.6771482680975298,
          0.23558281351895585,
          2.093220604542343
        ],
        "joint_status_l": {
          "velocity": [
            1.13371127581674,
            -2.6499256612284583,
            0.400627156007638,
            4.109924414473554,
            -8.402963043648848,
            -1.1670739623932391,
            10.728108557608973
          ],
          "torque": [
            -17.2998046875,
            1.0400390625,
            -9.97314453125,
            0.042724609375,
            -5.5718994140625,
            -2.8216552734375,
            0.7452392578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.3182914002685138,
            13.918886898144578,
            7.365780748900708,
            -16.054888757430774,
            -27.28927756732702,
            -5.959987273257195,
            31.20239792013102
          ],
          "torque": [
            20.8740234375,
            20.17822265625,
            18.39599609375,
            -6.182861328125,
            -0.5548095703125,
            2.1441650390625,
            0.92193603515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -16.4,
            0.7,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.4,
            0.7,
            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": 0,
          "position": 20,
          "motor_current": -515,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38040341647348025,
          -0.48807325373980814,
          -0.08612976398040119,
          -1.1261156222380773,
          -0.13659295030322355,
          -0.8711027868892693,
          0.42836631068545233
        ],
        "act_joint_pos_r": [
          -0.6724487042175116,
          -0.3296188546821119,
          0.33117299031992414,
          -1.3331335338198358,
          0.17359831790112823,
          0.46575073448642995,
          -0.6114752512839122
        ],
        "act_eef_pose_l": [
          491.8486875079824,
          347.37909076978366,
          82.46203144788802,
          1.6244705393813432,
          -0.07641231126778009,
          0.6698432237363116
        ],
        "act_eef_pose_r": [
          472.5198644042035,
          -418.42034812687865,
          37.80814334691968,
          1.7527033606145246,
          0.18173268143431437,
          2.133162901050803
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3729595209661432,
          -0.4603284294395187,
          -0.09022176507474815,
          -1.1697335990716473,
          -0.0731702430767083,
          -0.8491581173686299,
          0.3466139026212454
        ],
        "joint_pos_r": [
          -0.6367976308126226,
          -0.4434299978041244,
          0.26546173888176544,
          -1.200932533737214,
          0.3649497073009631,
          0.5045066283914521,
          -0.8424389892028615
        ],
        "eef_pose_l": [
          483.5546005562473,
          347.2142822804488,
          81.04041048920942,
          1.6655938613967411,
          -0.043739625498782256,
          0.6605003010983227
        ],
        "eef_pose_r": [
          503.6998040707473,
          -411.27595657883444,
          24.23961680271333,
          1.6901073954902408,
          0.22534491941849882,
          2.101914978928248
        ],
        "joint_status_l": {
          "velocity": [
            0.8039170045277544,
            -2.9963526517335914,
            0.44192308436485916,
            4.710602566229127,
            -6.849450366723464,
            -2.369954410159636,
            8.828999673508253
          ],
          "torque": [
            -18.50830078125,
            2.68798828125,
            -10.51025390625,
            -1.251220703125,
            -5.2239990234375,
            -3.2318115234375,
            0.692138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.8502023720790035,
            12.291240946403548,
            7.096605852119575,
            -14.27728692285335,
            -20.66534056354241,
            -4.185513096632842,
            24.94334803052123
          ],
          "torque": [
            19.56298828125,
            18.37646484375,
            19.2626953125,
            -6.182861328125,
            -0.135498046875,
            1.8804931640625,
            0.88623046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -17.6,
            -8.8,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.6,
            -8.8,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -16.8,
            0.0,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.8,
            0.0,
            1.1,
            0.4,
            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": 36,
          "motor_current": -1204,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37538487290873324,
          -0.4984860112280279,
          -0.08484599254212226,
          -1.112809918631149,
          -0.12627688010264512,
          -0.8764028342149008,
          0.4225673158438962
        ],
        "act_joint_pos_r": [
          -0.6888207901580928,
          -0.31008817498598445,
          0.35262105538547517,
          -1.3590584046026322,
          0.16835905854166144,
          0.4488717970432203,
          -0.6160918790188602
        ],
        "act_eef_pose_l": [
          494.4134875079824,
          345.8590907697837,
          81.98443144788808,
          1.6285800720960386,
          -0.07983583282021249,
          0.6646031881422899
        ],
        "act_eef_pose_r": [
          468.1150644042035,
          -421.0651481268787,
          41.37374334691981,
          1.7554721117861587,
          0.19511584282871344,
          2.125884836532891
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.37359029727484744,
          -0.46557566447875287,
          -0.0894729288283133,
          -1.16178914999862,
          -0.08177140838960843,
          -0.8530163806582753,
          0.3584467182745151
        ],
        "joint_pos_r": [
          -0.6447294931572627,
          -0.4213646078744484,
          0.27921337671131446,
          -1.226885404494063,
          0.3305960489720062,
          0.49597539359270065,
          -0.8020618524440901
        ],
        "eef_pose_l": [
          485.07312644313447,
          347.07557129361203,
          81.19315056155364,
          1.6598231481998806,
          -0.04889557139250361,
          0.6610709709991048
        ],
        "eef_pose_r": [
          497.68219071233636,
          -412.9376662773106,
          26.655601468022553,
          1.7014127853672556,
          0.2171143220873186,
          2.108077296579198
        ],
        "joint_status_l": {
          "velocity": [
            0.19380845238492483,
            -3.554212623023467,
            0.4996943812106691,
            5.289600979246245,
            -4.806449186366746,
            -2.5256624936815797,
            6.92482030083541
          ],
          "torque": [
            -19.3212890625,
            0.76904296875,
            -10.5224609375,
            0.10986328125,
            -5.2752685546875,
            -2.918701171875,
            0.6390380859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.761719636675821,
            12.01750031472848,
            7.92779547898026,
            -14.274263014842248,
            -17.521078209898455,
            -5.087038393166932,
            20.084164779148317
          ],
          "torque": [
            19.6435546875,
            18.662109375,
            19.384765625,
            -6.146240234375,
            0.1702880859375,
            1.6278076171875,
            0.87249755859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.0,
            -17.4,
            -9.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.4,
            -9.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -16.4,
            1.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.4,
            1.3,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -385,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 116,
          "motor_current": -1852,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37280958370850925,
          -0.5041076475588172,
          -0.08410679021070386,
          -1.1017300743859177,
          -0.11949357131830107,
          -0.8845891558014802,
          0.41656565419041186
        ],
        "act_joint_pos_r": [
          -0.7171149310113076,
          -0.28376231293464166,
          0.38528571807242373,
          -1.3970774101078531,
          0.17468713771088762,
          0.42149650927902615,
          -0.6308694346913073
        ],
        "act_eef_pose_l": [
          495.5374875079824,
          345.73509076978365,
          81.57803144788778,
          1.6310913635607742,
          -0.07970569205957953,
          0.660271527225159
        ],
        "act_eef_pose_r": [
          462.05906440420347,
          -424.3731481268787,
          46.015343346919735,
          1.7570836357652866,
          0.20928407119393447,
          2.111436112631207
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.37361699042968116,
          -0.4720288517760366,
          -0.08857143391625184,
          -1.1518789292186575,
          -0.08887490223066088,
          -0.8580750698970505,
          0.36910653454012105
        ],
        "joint_pos_r": [
          -0.6551706874934716,
          -0.4001005966656545,
          0.2949672294953497,
          -1.2529042012196163,
          0.30463912268699245,
          0.48514267723588433,
          -0.7731567972220204
        ],
        "eef_pose_l": [
          486.8640338514432,
          346.8531432197888,
          81.26566124638876,
          1.6546473571354856,
          -0.05421127192232816,
          0.6609837419490396
        ],
        "eef_pose_r": [
          492.0381530427287,
          -414.91439960336356,
          29.11794219919932,
          1.7106821924011593,
          0.21298755064026537,
          2.1099922799546977
        ],
        "joint_status_l": {
          "velocity": [
            -0.08719735413853513,
            -3.4644077672947304,
            0.4821672994349546,
            5.415916588013658,
            -3.3067187350092064,
            -2.8634368251232445,
            5.125433755643005
          ],
          "torque": [
            -26.27197265625,
            2.9296875,
            -10.02197265625,
            -0.103759765625,
            -5.21484375,
            -3.1146240234375,
            0.6573486328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.6897809953818665,
            12.564164082737861,
            9.754109084254114,
            -15.570247340029653,
            -14.034400454903562,
            -6.873583413834705,
            15.366581940209123
          ],
          "torque": [
            19.3212890625,
            19.541015625,
            19.482421875,
            -5.4931640625,
            -0.029296875,
            1.435546875,
            0.80291748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -17.0,
            -9.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -17.0,
            -9.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.0,
            -0.2,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.0,
            -0.2,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -328,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 263,
          "motor_current": -2118,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36383827740551056,
          -0.5076917324774749,
          -0.08365237842199046,
          -1.0939136669482612,
          -0.08530452650683065,
          -0.8845348431259609,
          0.398289832618478
        ],
        "act_joint_pos_r": [
          -0.7483434392307609,
          -0.26092602119727787,
          0.42031819704852375,
          -1.4246657592641394,
          0.18158963799962713,
          0.3990453458723454,
          -0.6421060678367848
        ],
        "act_eef_pose_l": [
          496.8078875079824,
          345.9054907697837,
          80.12283144788813,
          1.6521714450523313,
          -0.08960133334140521,
          0.6539912032123387
        ],
        "act_eef_pose_r": [
          457.0118644042035,
          -429.25794812687866,
          49.727343346919724,
          1.7589177795256756,
          0.21969023125447742,
          2.09400208131703
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.37271374818648195,
          -0.47761027840753467,
          -0.08779843976616108,
          -1.1429633724993904,
          -0.09097211316782179,
          -0.8624291972756459,
          0.3753389578507169
        ],
        "joint_pos_r": [
          -0.6680361194776067,
          -0.3790138108644163,
          0.31282396233285686,
          -1.2789750534344755,
          0.28386844957507795,
          0.4727513066058358,
          -0.7507304862897033
        ],
        "eef_pose_l": [
          488.41328827058004,
          346.7007607013192,
          81.17622450783023,
          1.6525880227951413,
          -0.059199468452434185,
          0.6602627972955403
        ],
        "eef_pose_r": [
          486.55513586731536,
          -417.24082060901947,
          31.663925603766955,
          1.7186860136584474,
          0.2110691789420464,
          2.1088349862727807
        ],
        "joint_status_l": {
          "velocity": [
            -0.9585225742325676,
            -3.2487012242325974,
            0.4477614191532586,
            5.297211966606596,
            0.6120813070139564,
            -2.38733934102342,
            2.4786213718885897
          ],
          "torque": [
            -31.06201171875,
            5.888671875,
            -9.661865234375,
            0.238037109375,
            -2.8509521484375,
            -2.9388427734375,
            0.46783447265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.672934738803484,
            12.753105151320554,
            11.609034959108033,
            -15.734132176179472,
            -11.045785872108915,
            -7.960008991301226,
            11.731091202874744
          ],
          "torque": [
            17.7099609375,
            19.658203125,
            18.4326171875,
            -5.60302734375,
            0.3076171875,
            1.717529296875,
            0.61431884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.0,
            -9.3,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.0,
            -9.3,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -16.9,
            0.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.9,
            0.3,
            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": 0,
          "position": 398,
          "motor_current": -2362,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36275945534146753,
          -0.5140479589918968,
          -0.08294347036893636,
          -1.0859365671731027,
          -0.08135462996367901,
          -0.8953955935024436,
          0.3914211956452392
        ],
        "act_joint_pos_r": [
          -0.7819386517202235,
          -0.24116415898609234,
          0.4574050855433892,
          -1.4459773673509142,
          0.16805991209593518,
          0.38659304673591083,
          -0.6299516187843313
        ],
        "act_eef_pose_l": [
          497.0342875079824,
          344.05189076978365,
          79.69963144788795,
          1.6519675598760557,
          -0.08464276684487909,
          0.6446918597391195
        ],
        "act_eef_pose_r": [
          451.7054644042035,
          -432.9779481268787,
          51.97854334691988,
          1.7648905177284797,
          0.22362467402683844,
          2.0855460522546805
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.371022753008894,
          -0.4836461869269544,
          -0.08698538607845825,
          -1.1333908137373097,
          -0.08952431872110864,
          -0.8675632190396232,
          0.3786217890689277
        ],
        "joint_pos_r": [
          -0.6860261073795965,
          -0.35590491256310264,
          0.33601483593875936,
          -1.3071392570706497,
          0.2642579633624419,
          0.45831432051192067,
          -0.730153233556443
        ],
        "eef_pose_l": [
          489.9412461263851,
          346.3750436629609,
          80.93075523260566,
          1.6524414089338204,
          -0.06401624575487125,
          0.6581162191870203
        ],
        "eef_pose_r": [
          480.54977739686194,
          -420.25599825679683,
          34.40902125023558,
          1.726627411522084,
          0.21038206610573623,
          2.1049114162982696
        ],
        "joint_status_l": {
          "velocity": [
            -0.892409827861318,
            -3.2832945474172703,
            0.43651402233546577,
            5.1249074778692005,
            0.8823003637441484,
            -3.0058077904220326,
            1.3822951416258
          ],
          "torque": [
            -32.2119140625,
            4.0576171875,
            -9.2041015625,
            0.40283203125,
            -2.2705078125,
            -3.0523681640625,
            0.56304931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -10.358249288554333,
            12.391635914551724,
            13.109760305587859,
            -14.994073683704201,
            -10.389083127154697,
            -7.745669121509646,
            10.821455233626764
          ],
          "torque": [
            15.63720703125,
            20.98388671875,
            19.0185546875,
            -6.67724609375,
            -0.2215576171875,
            1.102294921875,
            0.81756591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.1,
            -10.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.7,
            -16.1,
            -10.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -16.0,
            -0.9,
            0.9,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.0,
            -0.9,
            0.9,
            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": 0,
          "position": 647,
          "motor_current": 171,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36306102450708916,
          -0.5170566913850425,
          -0.08258988488867884,
          -1.079971106958504,
          -0.0816771353667593,
          -0.8982728775713846,
          0.39082176150968007
        ],
        "act_joint_pos_r": [
          -0.8029857377270022,
          -0.2331044766626554,
          0.4826245317807151,
          -1.460682016189732,
          0.15097359770943483,
          0.37857664596211704,
          -0.610575565947625
        ],
        "act_eef_pose_l": [
          497.8046875079824,
          344.26549076978364,
          79.14443144788794,
          1.6520075623424715,
          -0.08343968444849495,
          0.6449302846622625
        ],
        "act_eef_pose_r": [
          449.01106440420347,
          -432.73074812687867,
          53.240143346919695,
          1.7678511778018604,
          0.2203977925957441,
          2.084602326390108
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3695917281500945,
          -0.4893207399929844,
          -0.0862355719491829,
          -1.1244071482874753,
          -0.08811192713167094,
          -0.8727704064744843,
          0.38082520891817007
        ],
        "joint_pos_r": [
          -0.7050777042327128,
          -0.33481612476994876,
          0.3599861099297949,
          -1.3331496030572194,
          0.2455498454370995,
          0.4448360434198201,
          -0.7105095026460635
        ],
        "eef_pose_l": [
          491.2886041391304,
          346.0063388765596,
          80.64922581004237,
          1.6523181708016705,
          -0.06754583603879116,
          0.6557776976722435
        ],
        "eef_pose_r": [
          474.986432505252,
          -422.90365453350466,
          36.995677019563004,
          1.7338014487023168,
          0.2099621091668338,
          2.1009840872924053
        ],
        "joint_status_l": {
          "velocity": [
            -0.7052951918753436,
            -2.9953944059060156,
            0.3937225903074548,
            4.7989509260375485,
            0.6949370145388212,
            -2.7541856481017035,
            1.0795958389056004
          ],
          "torque": [
            -33.4423828125,
            5.21484375,
            -9.375,
            0.81787109375,
            -2.2265625,
            -2.68798828125,
            0.60333251953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -10.573755761126513,
            10.9845340240744,
            13.244558932513861,
            -13.773094402605324,
            -10.21393351072164,
            -7.155803876278011,
            10.792546854276885
          ],
          "torque": [
            15.6591796875,
            21.58447265625,
            19.482421875,
            -5.780029296875,
            0.0457763671875,
            0.9686279296875,
            0.68756103515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.0,
            -8.7,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.0,
            -8.7,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.1,
            1.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.1,
            1.3,
            1.0,
            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": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3579255199787713,
          -0.5148895035268911,
          -0.08293708097814365,
          -1.085343647446934,
          -0.051009221208273885,
          -0.886006947054609,
          0.384620325891508
        ],
        "act_joint_pos_r": [
          -0.8385455118266486,
          -0.21913320590160876,
          0.5208269812086584,
          -1.4793071631888255,
          0.12923852476462416,
          0.3688419936799356,
          -0.5845568286663336
        ],
        "act_eef_pose_l": [
          497.95908750798236,
          344.4654907697836,
          76.91163144788794,
          1.674483788287196,
          -0.10061334208311902,
          0.6433753994705701
        ],
        "act_eef_pose_r": [
          444.4382644042035,
          -434.19954812687865,
          54.188943346919814,
          1.7747600595002444,
          0.2158401859352157,
          2.080669204665528
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    }
  ]
}