{
  "info": {
    "version": "1.0.0",
    "datetime": "2025-08-31-16:54",
    "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": "cable_match/episode_0020",
    "episode_id": 20,
    "task": "Insert the cable of the same color as the port.",
    "total_steps": 161
  },
  "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,
          0.3580877428492688
        ],
        "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,
          -0.07549365071694027,
          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": [
            -14.765625,
            11.4697265625,
            -20.355224609375,
            -2.862548828125,
            -4.053955078125,
            -2.1441650390625,
            0.20050048828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            17.90771484375,
            14.99267578125,
            17.41943359375,
            -4.949951171875,
            4.097900390625,
            0.8697509765625,
            -0.41748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.4,
            -9.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.4,
            -9.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.2,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.2,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35796024155960027,
          -0.29185868265297066,
          -0.12847009057949968,
          -1.519147147131643,
          -0.10984926145879738,
          -0.5092536146021344,
          0.35808773475403266
        ],
        "act_joint_pos_r": [
          -0.480455521469033,
          -0.2846939284347493,
          0.277799626191243,
          -1.3152536269136812,
          -0.02999999278066623,
          0.7533570419891711,
          -0.19766064531856284
        ],
        "act_eef_pose_l": [
          457.76548750798236,
          348.26789076978366,
          116.82043144788787,
          1.6656263232034922,
          -0.07549364575442369,
          0.8180631049630251
        ],
        "act_eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.689961907456498,
          0.014678289631629551,
          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,
          0.3580877422655881
        ],
        "joint_pos_r": [
          -0.48045581914287,
          -0.2846939335558987,
          0.2777996210753957,
          -1.315253611044966,
          -0.029999999090207157,
          0.7533570653476622,
          -0.19766064130734967
        ],
        "eef_pose_l": [
          457.7654836193209,
          348.2678907752136,
          116.82041419144203,
          1.6656263520535586,
          -0.07549362458873432,
          0.8180631103215275
        ],
        "eef_pose_r": [
          451.8198694979947,
          -395.3747481304337,
          103.95056324091863,
          1.6899618768536526,
          0.014678320820691051,
          2.3499154222478533
        ],
        "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": [
            -14.58984375,
            11.44775390625,
            -20.355224609375,
            -2.862548828125,
            -4.053955078125,
            -2.1441650390625,
            0.20050048828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.214782662297466e-05,
            5.530678137688483e-07,
            5.524949386881417e-07,
            -1.7137704588776614e-06,
            6.814103170604824e-07,
            -2.522642539304343e-06,
            -4.331983660676997e-07
          ],
          "torque": [
            17.900390625,
            15.0,
            17.41943359375,
            -4.94384765625,
            4.097900390625,
            0.867919921875,
            -0.41656494140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.4,
            -9.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.4,
            -9.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.2,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.2,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3594194747580498,
          -0.293563039576104,
          -0.12771750397880596,
          -1.5134309180650867,
          -0.10389827090371868,
          -0.5142176146563582,
          0.35529072278858126
        ],
        "act_joint_pos_r": [
          -0.47914366067395964,
          -0.28736677858615645,
          0.2760949076377897,
          -1.3166153518884578,
          -0.03187263939354823,
          0.7454021433431147,
          -0.1950017243433481
        ],
        "act_eef_pose_l": [
          458.00548750798237,
          348.78869076978367,
          115.15323144788778,
          1.6694665870354632,
          -0.07637842308134789,
          0.8158717550851795
        ],
        "act_eef_pose_r": [
          453.0686644042035,
          -394.74034812687864,
          103.20574334691992,
          1.692043533760863,
          0.01337322756666815,
          2.3461728567510374
        ],
        "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": [
          0.3580851759904296,
          -0.29200506112437374,
          -0.12840545482749227,
          -1.5186562108233979,
          -0.10933815845647057,
          -0.5096799405286884,
          0.35784751707172896
        ],
        "joint_pos_r": [
          -0.4803981898801262,
          -0.2848112894352312,
          0.2777247727891884,
          -1.3153134016561814,
          -0.0300822204471631,
          0.753007788607573,
          -0.1975438969036481
        ],
        "eef_pose_l": [
          457.7865015713854,
          348.31255082353266,
          116.67762386579736,
          1.665954218575817,
          -0.07557089652150453,
          0.817875591651701
        ],
        "eef_pose_r": [
          451.8748176320939,
          -395.34689614618884,
          103.91773542275966,
          1.6900535444788625,
          0.01462039674867147,
          2.3497512050402594
        ],
        "joint_status_l": {
          "velocity": [
            0.14410001690023932,
            -0.1682567103200583,
            0.07429650040002844,
            0.5643149743175258,
            0.5874905285903065,
            -0.4900543524080092,
            -0.27612563868961715
          ],
          "torque": [
            -10.68603515625,
            6.89208984375,
            -15.1611328125,
            -0.848388671875,
            -2.2100830078125,
            -2.808837890625,
            -0.26641845703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.135485158344828,
            -0.2759846885664885,
            -0.17602024491170098,
            -0.14060647811753313,
            -0.19335954337468264,
            -0.8213854630927386,
            0.27454653919534167
          ],
          "torque": [
            18.56689453125,
            13.623046875,
            15.924072265625,
            -5.48095703125,
            4.0228271484375,
            0.7891845703125,
            -0.41839599609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.5,
            -10.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.5,
            -10.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.4,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.4,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -293,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3619440081509345,
          -0.2955054547532706,
          -0.1271208976996932,
          -1.5140077727295487,
          -0.10973269178126223,
          -0.5094440209165239,
          0.3598919173944474
        ],
        "act_joint_pos_r": [
          -0.474078917803046,
          -0.29482696791697993,
          0.27078932519538385,
          -1.3129107416420058,
          -0.03931026926223291,
          0.7357782244223421,
          -0.18979807799103907
        ],
        "act_eef_pose_l": [
          458.56708750798236,
          348.44069076978366,
          113.9924314478879,
          1.6698459517209991,
          -0.07385401501275217,
          0.8188054814404452
        ],
        "act_eef_pose_r": [
          455.9038644042035,
          -393.92754812687866,
          101.28894334691972,
          1.6980156894786045,
          0.013577784862636081,
          2.341495432670228
        ],
        "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": [
          0.35848655175695454,
          -0.2924012370465841,
          -0.12824934256043935,
          -1.5178387892930083,
          -0.10886453825971033,
          -0.5100817285375319,
          0.3577589461921203
        ],
        "joint_pos_r": [
          -0.4798667262229332,
          -0.2857278816396673,
          0.27710836158546776,
          -1.3153442444194012,
          -0.030852875089355747,
          0.7510107957808625,
          -0.19676094925644422
        ],
        "eef_pose_l": [
          457.8638541012571,
          348.365789338314,
          116.34396310175391,
          1.666556775142401,
          -0.07552225274810812,
          0.8177583864894638
        ],
        "eef_pose_r": [
          452.26598302702286,
          -395.1854330702718,
          103.66950565197884,
          1.6907806287292393,
          0.014386594460347497,
          2.3488037431861244
        ],
        "joint_status_l": {
          "velocity": [
            0.37339427787408397,
            -0.3352456247807112,
            0.12186845064288132,
            0.4137375863155768,
            -0.09375781508869085,
            0.06887039184544363,
            0.23035409592031542
          ],
          "torque": [
            -11.68212890625,
            5.28076171875,
            -12.420654296875,
            -0.067138671875,
            -2.5836181640625,
            -1.3128662109375,
            0.14739990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6250648740451226,
            -0.9826723355783606,
            -0.6824358027610611,
            0.2628105487758603,
            -0.9133716322143881,
            -1.6450691879983381,
            0.751967918555474
          ],
          "torque": [
            24.7705078125,
            6.48193359375,
            10.38818359375,
            -2.6123046875,
            1.8255615234375,
            -0.721435546875,
            0.3387451171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.3,
            -11.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.3,
            -11.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.2,
            -1.3,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.2,
            -1.3,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -274,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.366689456217881,
          -0.3008712888067502,
          -0.12536666669229607,
          -1.5113894206182767,
          -0.11680940675859719,
          -0.5062396689380081,
          0.36699296136843046
        ],
        "act_joint_pos_r": [
          -0.4725954372798631,
          -0.30204280679715145,
          0.2665203865140587,
          -1.315890570667404,
          -0.04177043046513296,
          0.7235197242694684,
          -0.19048787882336618
        ],
        "act_eef_pose_l": [
          459.58708750798235,
          347.45749076978365,
          111.19723144788787,
          1.6717076485919735,
          -0.07016000570244157,
          0.8199567581130693
        ],
        "act_eef_pose_r": [
          457.9446644042035,
          -391.13154812687867,
          99.16334334691987,
          1.7015238645237913,
          0.013929385634693084,
          2.340082425088198
        ],
        "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": [
          0.35926329906559745,
          -0.29314715274714326,
          -0.12798680875787616,
          -1.5170940244843358,
          -0.10931797480176307,
          -0.5098361994273427,
          0.3584213810714067
        ],
        "joint_pos_r": [
          -0.47877825810275826,
          -0.28765350123143096,
          0.2758036672443354,
          -1.3150448155291985,
          -0.032456231370595535,
          0.7477793171696878,
          -0.1955601420508115
        ],
        "eef_pose_l": [
          458.02612627528924,
          348.3354553524116,
          115.83601579666595,
          1.667176226191837,
          -0.0750841591118134,
          0.8179805926561545
        ],
        "eef_pose_r": [
          453.0012241122638,
          -394.8424055490045,
          103.14913536153946,
          1.692222614400227,
          0.014231369420805873,
          2.3474490606782714
        ],
        "joint_status_l": {
          "velocity": [
            0.8020013186817998,
            -0.8341820915518383,
            0.2829669974171445,
            0.6160790472549138,
            -0.809050789660426,
            0.38841383719478983,
            0.9257033699170414
          ],
          "torque": [
            -10.25390625,
            5.01708984375,
            -8.148193359375,
            -0.653076171875,
            -2.698974609375,
            -1.142578125,
            0.46600341796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6677249553779241,
            -1.5539991683422016,
            -1.002564749803092,
            -0.09133886103107614,
            -1.0059038346622584,
            -2.619958761671093,
            0.5477882724127525
          ],
          "torque": [
            26.06689453125,
            6.38671875,
            10.82763671875,
            -1.300048828125,
            1.8585205078125,
            -0.245361328125,
            0.552978515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.5,
            -10.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.5,
            -10.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.3,
            -0.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.3,
            -0.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -274,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3706097844876016,
          -0.31130955613676065,
          -0.12197123305171977,
          -1.5015722262963362,
          -0.11324845242912376,
          -0.5068208415806279,
          0.36365953334175527
        ],
        "act_joint_pos_r": [
          -0.4700659766980752,
          -0.31168268757054557,
          0.2610775019692144,
          -1.3191946848559242,
          -0.04855046529138285,
          0.704054655356008,
          -0.18913042535079352
        ],
        "act_eef_pose_l": [
          461.6462875079824,
          346.0326907697837,
          106.66443144788792,
          1.6784486305919395,
          -0.06441726333893148,
          0.8178650225717456
        ],
        "act_eef_pose_r": [
          461.1270644042035,
          -388.07314812687866,
          96.10894334691966,
          1.7084968038148587,
          0.015835174494206627,
          2.3350105574383235
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 5,
      "colors": {
        "rgb_main": "colors/000005_rgb_main.jpg",
        "rgb_wrist_0": "colors/000005_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000005_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000005_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.361018686991992,
          -0.295690728495219,
          -0.12714039529480314,
          -1.5149776026379707,
          -0.11024069481185197,
          -0.5092658837626767,
          0.3595607550992182
        ],
        "joint_pos_r": [
          -0.47761484478305033,
          -0.29057920736061527,
          0.2739612543346507,
          -1.3153758550954462,
          -0.0343814286308403,
          0.7426600422619779,
          -0.19464740430190652
        ],
        "eef_pose_l": [
          458.5454134946223,
          348.0251734218749,
          114.51097801607244,
          1.6687284138877307,
          -0.0735564730674181,
          0.8180909516263544
        ],
        "eef_pose_r": [
          454.00784314031847,
          -394.0611103557395,
          102.30340297574072,
          1.694174014350516,
          0.014230902305694775,
          2.3459348875697077
        ],
        "joint_status_l": {
          "velocity": [
            1.0358079800023567,
            -1.6867836362624011,
            0.5582530574591571,
            1.4477379461492745,
            -0.32482824236845786,
            0.2640567677234529,
            0.4426549947824654
          ],
          "torque": [
            -10.87646484375,
            2.71728515625,
            -8.41064453125,
            -0.06103515625,
            -3.68408203125,
            -0.9063720703125,
            0.56671142578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8152537085543976,
            -2.2791086439557517,
            -1.3914042181935038,
            -0.4124214504113155,
            -1.5302108281826377,
            -4.169258820128974,
            0.5958161540622342
          ],
          "torque": [
            28.83544921875,
            4.32861328125,
            10.38818359375,
            -3.973388671875,
            1.46484375,
            -0.9576416015625,
            0.5914306640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.4,
            -10.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.4,
            -10.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -16.9,
            -1.2,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.9,
            -1.2,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37200169210760253,
          -0.3239002153024649,
          -0.1186716585805482,
          -1.5047737176958498,
          -0.09393750083340001,
          -0.4909907628407914,
          0.346929697617552
        ],
        "act_joint_pos_r": [
          -0.4678814756524261,
          -0.3255553331272704,
          0.25335145993198616,
          -1.318214747994523,
          -0.041831589190635114,
          0.6903219950571943,
          -0.19590679063185232
        ],
        "act_eef_pose_l": [
          463.4510875079824,
          340.89589076978365,
          101.64523144788774,
          1.692087208255477,
          -0.05973643511522968,
          0.8141977175890605
        ],
        "act_eef_pose_r": [
          464.8206644042035,
          -383.7523481268787,
          93.36814334691985,
          1.7077673236012707,
          0.012976179949528903,
          2.3335959361534835
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 6,
      "colors": {
        "rgb_main": "colors/000006_rgb_main.jpg",
        "rgb_wrist_0": "colors/000006_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000006_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000006_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3627524854760541,
          -0.29967915644586807,
          -0.12591827583031426,
          -1.513135086614191,
          -0.10855605383792728,
          -0.5070776194525415,
          0.3583467332301581
        ],
        "joint_pos_r": [
          -0.476122635097325,
          -0.2953107220798991,
          0.27112623746274434,
          -1.3159804011407765,
          -0.03640219071621052,
          0.7348441364824314,
          -0.19416054382770553
        ],
        "eef_pose_l": [
          459.28228632073916,
          347.12978866569364,
          112.65680639894522,
          1.6718780981372952,
          -0.07149448647312112,
          0.8176259776301016
        ],
        "eef_pose_r": [
          455.555267616585,
          -392.70905539808945,
          100.99080124261168,
          1.6966537685667937,
          0.01420599541279902,
          2.3438759180268245
        ],
        "joint_status_l": {
          "velocity": [
            0.9988848556732322,
            -2.6157972076972236,
            0.7826115810800616,
            0.9030012105846197,
            1.5787571615354379,
            1.737329274281052,
            -1.2330034806677936
          ],
          "torque": [
            -12.01904296875,
            2.67333984375,
            -9.014892578125,
            -0.927734375,
            -1.0711669921875,
            -0.7232666015625,
            -0.3094482421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8900189703431316,
            -3.26632165810814,
            -1.9196193571753284,
            -0.2413023433724959,
            -0.5863577415406995,
            -4.808249462188385,
            -0.18858909270980106
          ],
          "torque": [
            28.89404296875,
            5.361328125,
            10.64453125,
            -4.522705078125,
            1.8914794921875,
            -0.5126953125,
            0.0
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -15.9,
            -9.8,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -15.9,
            -9.8,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.2,
            -1.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.2,
            -1.8,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -309,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3744953389514517,
          -0.33079249111385717,
          -0.11705294703657401,
          -1.5073960054954683,
          -0.09831039699967142,
          -0.4802166880183465,
          0.35000299258177364
        ],
        "act_joint_pos_r": [
          -0.4667295400792413,
          -0.33365065986114767,
          0.2488653084686753,
          -1.3124349910407638,
          -0.038253729666291036,
          0.6926159470311508,
          -0.2001120252178959
        ],
        "act_eef_pose_l": [
          464.7182875079824,
          338.25429076978367,
          99.49083144788784,
          1.694229506298428,
          -0.055610103708895305,
          0.8158568553382433
        ],
        "act_eef_pose_r": [
          466.2894644042035,
          -381.64674812687866,
          91.72094334691974,
          1.706945280697598,
          0.01095113396943747,
          2.337871525245825
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 7,
      "colors": {
        "rgb_main": "colors/000007_rgb_main.jpg",
        "rgb_wrist_0": "colors/000007_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000007_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000007_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36481518213729713,
          -0.30512641109326716,
          -0.1243444036648087,
          -1.5118849430669519,
          -0.10634368515941996,
          -0.5026788396629636,
          0.3565757920735496
        ],
        "joint_pos_r": [
          -0.47453554116180674,
          -0.3015717231033793,
          0.26747727736607607,
          -1.3157232483558983,
          -0.036958418241206936,
          0.7272311035987642,
          -0.19494382548674277
        ],
        "eef_pose_l": [
          460.2654847504219,
          345.63609478558504,
          110.30504089646186,
          1.6759818867716876,
          -0.06870370025171206,
          0.8171700759971675
        ],
        "eef_pose_r": [
          457.38968529445583,
          -390.9221226909033,
          99.4418039943133,
          1.6984667317208175,
          0.013660941822347514,
          2.3424977811188255
        ],
        "joint_status_l": {
          "velocity": [
            1.0454261027335043,
            -2.771854890733838,
            0.7874540911324557,
            0.4847909595753208,
            0.8675695336572975,
            2.4258408312678448,
            -0.7098414094586225
          ],
          "torque": [
            -13.330078125,
            3.28125,
            -9.6923828125,
            -0.5126953125,
            -0.791015625,
            -0.311279296875,
            -0.64361572265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8430232532754545,
            -3.4644229921445557,
            -2.010033358154528,
            0.35512131629289456,
            -0.13988950808857537,
            -3.738326653251356,
            -0.55814910923635
          ],
          "torque": [
            30.263671875,
            5.8154296875,
            9.625244140625,
            -1.220703125,
            1.669921875,
            -0.0823974609375,
            -0.41656494140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.4,
            -10.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.4,
            -10.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -16.7,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.7,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3748843116684937,
          -0.34452863665491024,
          -0.11363242262798817,
          -1.5010629231025479,
          -0.08421483133090486,
          -0.4700349037961366,
          0.3362670367509376
        ],
        "act_joint_pos_r": [
          -0.46198599675373636,
          -0.35194076414859804,
          0.23922993725396,
          -1.2973258072495057,
          -0.031759847373623806,
          0.6956312862200236,
          -0.20180352991504263
        ],
        "act_eef_pose_l": [
          467.8542875079824,
          335.3198907697837,
          95.11803144788797,
          1.7045594162599411,
          -0.051047604036447314,
          0.8162201655829503
        ],
        "act_eef_pose_r": [
          470.4414644042035,
          -377.9131481268787,
          88.81614334691994,
          1.7050164873397913,
          0.002231288300040741,
          2.342707873237589
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 8,
      "colors": {
        "rgb_main": "colors/000008_rgb_main.jpg",
        "rgb_wrist_0": "colors/000008_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000008_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000008_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3664555737818779,
          -0.3110768475913381,
          -0.12271466184237972,
          -1.5103488767503714,
          -0.10324670266800413,
          -0.4977030407627722,
          0.3537642257569891
        ],
        "joint_pos_r": [
          -0.47287881105354346,
          -0.30826037701491643,
          0.2636936877858113,
          -1.3137212690222122,
          -0.036509124831675066,
          0.7222766142383585,
          -0.19589657866960006
        ],
        "eef_pose_l": [
          461.4335480708277,
          344.0764936976733,
          107.97074903598187,
          1.680320617967517,
          -0.06589310447529526,
          0.8169669213054372
        ],
        "eef_pose_r": [
          459.181960796847,
          -389.19202458491594,
          97.9666379630408,
          1.6994644955652662,
          0.012279951063866494,
          2.3422269724770577
        ],
        "joint_status_l": {
          "velocity": [
            0.9102768445736764,
            -3.6126866683678927,
            0.9808529064442295,
            1.0028534163843972,
            2.055381484170282,
            2.988070663963338,
            -1.8896406806807597
          ],
          "torque": [
            -13.53515625,
            4.9365234375,
            -9.43603515625,
            -0.634765625,
            -0.7708740234375,
            -0.3131103515625,
            -0.63629150390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1763892486329475,
            -4.71734267985191,
            -2.642007135604807,
            1.7706576486968828,
            0.5129068380910207,
            -2.877610555393595,
            -0.6379319197116207
          ],
          "torque": [
            29.77294921875,
            5.9765625,
            9.576416015625,
            -0.9033203125,
            3.4295654296875,
            0.087890625,
            -0.5731201171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -15.8,
            -11.7,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -15.8,
            -11.7,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -16.6,
            0.2,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -16.6,
            0.2,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -204,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.372945916262901,
          -0.3563923478055469,
          -0.11105916760811163,
          -1.4998707139455474,
          -0.06480809695354747,
          -0.4563419231270582,
          0.3230780813983627
        ],
        "act_joint_pos_r": [
          -0.4576875332104713,
          -0.371106442223376,
          0.23059186896069328,
          -1.2861393380314603,
          -0.02915165821137755,
          0.6928088404089188,
          -0.20258914419331803
        ],
        "act_eef_pose_l": [
          470.4870875079824,
          331.83269076978365,
          92.00603144788789,
          1.7148897588158385,
          -0.05389978366566621,
          0.8155820901187173
        ],
        "act_eef_pose_r": [
          474.8134644042035,
          -373.02354812687867,
          85.62334334691968,
          1.7051249414711036,
          -0.004079806206747198,
          2.3471740086938975
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 9,
      "colors": {
        "rgb_main": "colors/000009_rgb_main.jpg",
        "rgb_wrist_0": "colors/000009_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000009_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000009_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36762248497119526,
          -0.31791490036604225,
          -0.12093121071067685,
          -1.5086877770301659,
          -0.0979280410803492,
          -0.49160937348261025,
          0.3493994905271931
        ],
        "joint_pos_r": [
          -0.47014673962798575,
          -0.31945909964392316,
          0.25768583253265853,
          -1.309014664427531,
          -0.035225432211634315,
          0.7165629731861567,
          -0.19718337705621408
        ],
        "eef_pose_l": [
          462.82945798359293,
          342.2686011672297,
          105.48274358589177,
          1.6855722044079449,
          -0.06363807200898805,
          0.8167178745153846
        ],
        "eef_pose_r": [
          462.0435325224977,
          -386.40315478213125,
          95.69659186728195,
          1.7004192849853088,
          0.009284038821470412,
          2.3428002174121714
        ],
        "joint_status_l": {
          "velocity": [
            0.5749136233332841,
            -4.155441765262946,
            1.0661492106869286,
            0.952214729068146,
            3.5768484721879767,
            3.8087723046653643,
            -2.8426283470723845
          ],
          "torque": [
            -12.91259765625,
            4.51904296875,
            -10.19287109375,
            -0.01220703125,
            -0.706787109375,
            -0.736083984375,
            -0.63262939453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3455546080800573,
            -5.577748491682577,
            -2.9260617661936994,
            2.470462388382444,
            0.655948245868343,
            -2.5653706783783647,
            -0.5838056323803631
          ],
          "torque": [
            28.681640625,
            5.35400390625,
            10.009765625,
            -1.324462890625,
            3.81591796875,
            -0.1190185546875,
            -0.73516845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -15.8,
            -8.9,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.2,
            -15.8,
            -8.9,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.9,
            -1.6,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.9,
            -1.6,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37738380804234767,
          -0.3653472483723711,
          -0.10950092386827047,
          -1.5069553140799017,
          -0.09754093641060332,
          -0.4216605406329124,
          0.3534001805494634
        ],
        "act_joint_pos_r": [
          -0.4612696492689819,
          -0.38507111175077535,
          0.2253596808851861,
          -1.2791388256980616,
          -0.01562446639484305,
          0.6941534242061149,
          -0.2148385323510686
        ],
        "act_eef_pose_l": [
          474.42308750798236,
          330.3270907697837,
          90.14523144788797,
          1.7122824103359129,
          -0.05265436874985194,
          0.8370787230942346
        ],
        "act_eef_pose_r": [
          476.89106440420346,
          -368.5875481268787,
          82.22494334691964,
          1.7008656793861763,
          -0.010494536765753258,
          2.3535250831206826
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 10,
      "colors": {
        "rgb_main": "colors/000010_rgb_main.jpg",
        "rgb_wrist_0": "colors/000010_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000010_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000010_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3689390480546704,
          -0.3251311142795113,
          -0.1191533018350866,
          -1.5079429641682927,
          -0.09573905524223826,
          -0.4823619783766627,
          0.3480883673630563
        ],
        "joint_pos_r": [
          -0.4685027202882386,
          -0.3295254946332221,
          0.2526412964045632,
          -1.3044641098749612,
          -0.03270048557604772,
          0.7128096311712159,
          -0.19945431550637124
        ],
        "eef_pose_l": [
          464.5427885618451,
          340.43311340117634,
          103.0819195804191,
          1.6901058082847429,
          -0.06178446349710617,
          0.8186713645582603
        ],
        "eef_pose_r": [
          464.42777088178644,
          -383.7942236123574,
          93.6394820083271,
          1.7005458733487726,
          0.0062158959133412125,
          2.3441703552285102
        ],
        "joint_status_l": {
          "velocity": [
            0.9120071804549212,
            -4.343214385767791,
            1.042426075702485,
            0.10666306368811718,
            -0.19459742683913817,
            6.555561930360998,
            0.5736589049667451
          ],
          "torque": [
            -15.29296875,
            3.50830078125,
            -10.3271484375,
            0.250244140625,
            -2.373046875,
            -0.3387451171875,
            0.11810302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7811486313324956,
            -5.998749725030006,
            -2.946327578805974,
            2.735050025117758,
            1.8441556811056858,
            -2.01481092855893,
            -1.6614464174844468
          ],
          "torque": [
            28.388671875,
            6.02783203125,
            10.11962890625,
            0.76904296875,
            4.083251953125,
            -0.41748046875,
            -0.83770751953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -15.7,
            -14.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.4,
            -15.7,
            -14.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.5,
            -1.4,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.5,
            -1.4,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3788624919004863,
          -0.3724345218310179,
          -0.10807123643119311,
          -1.5016461526399374,
          -0.10235230603365363,
          -0.4176236134990588,
          0.3589841253742554
        ],
        "act_joint_pos_r": [
          -0.46268197343054407,
          -0.39002887528371033,
          0.22397403532120608,
          -1.2762252796394835,
          -0.01045226825124157,
          0.6918597313324928,
          -0.22261913184588347
        ],
        "act_eef_pose_l": [
          476.3870875079824,
          329.47669076978366,
          88.3524314478878,
          1.713420711734293,
          -0.051936254054234424,
          0.8395699325939433
        ],
        "act_eef_pose_r": [
          478.0974644042035,
          -367.5843481268787,
          81.0249433469196,
          1.6995306300197357,
          -0.009135290532591513,
          2.3529330019660324
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 11,
      "colors": {
        "rgb_main": "colors/000011_rgb_main.jpg",
        "rgb_wrist_0": "colors/000011_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000011_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000011_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3704744048028011,
          -0.33244739626100483,
          -0.1174242917620924,
          -1.5072525222804343,
          -0.09651383995829631,
          -0.4719814113278101,
          0.34951701288279796
        ],
        "joint_pos_r": [
          -0.4675452527565924,
          -0.3384501713419884,
          0.2483622577006767,
          -1.300330059723792,
          -0.029593976030493494,
          0.7097495679948526,
          -0.20256346293938965
        ],
        "eef_pose_l": [
          466.4315722864821,
          338.72142983586366,
          100.7974718352396,
          1.6937424827157286,
          -0.06011074200455383,
          0.8219850705555782
        ],
        "eef_pose_r": [
          466.4848067357337,
          -381.4615064328187,
          91.77949581904004,
          1.7003156553557186,
          0.0037047612290390633,
          2.345487044411398
        ],
        "joint_status_l": {
          "velocity": [
            0.905886688850277,
            -4.318482194737072,
            1.0101001844247115,
            0.605470063788971,
            -0.6305357394810196,
            5.870469025276215,
            1.0224179944704481
          ],
          "torque": [
            -15.44677734375,
            3.87451171875,
            -9.7900390625,
            0.37841796875,
            -2.84912109375,
            0.1593017578125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5252186767163991,
            -5.570335737435261,
            -2.633850335719723,
            2.603239470662544,
            2.067243470072172,
            -1.9320453769022805,
            -2.1659483606688568
          ],
          "torque": [
            30.00732421875,
            6.0498046875,
            10.55908203125,
            -0.68359375,
            4.1839599609375,
            -0.029296875,
            -1.0546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.1,
            -10.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -16.1,
            -10.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -16.9,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.9,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3771601439909453,
          -0.3850589063067063,
          -0.10651186939033797,
          -1.532642685002159,
          -0.08377950658308662,
          -0.3736218730902735,
          0.34648405711915925
        ],
        "act_joint_pos_r": [
          -0.4643922822830584,
          -0.40169332224174487,
          0.22023431171036387,
          -1.2751431795592145,
          0.0017039030394303545,
          0.6819640211137314,
          -0.2331096158189501
        ],
        "act_eef_pose_l": [
          476.4630875079823,
          318.16149076978365,
          86.29723144788801,
          1.7237785900429807,
          -0.05384437858216825,
          0.8361128994558354
        ],
        "act_eef_pose_r": [
          480.8246644042035,
          -363.6771481268787,
          78.95934334691992,
          1.6955292041804344,
          -0.012903384231699433,
          2.3518056690520783
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 12,
      "colors": {
        "rgb_main": "colors/000012_rgb_main.jpg",
        "rgb_wrist_0": "colors/000012_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000012_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000012_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37145674123064026,
          -0.33804093922639755,
          -0.11617713680313106,
          -1.507906957564513,
          -0.09643414064771423,
          -0.4631991712072638,
          0.3501612362250266
        ],
        "joint_pos_r": [
          -0.4668555003031252,
          -0.3487299264027047,
          0.24367824258513388,
          -1.295960500652407,
          -0.02500044512816708,
          0.7056022156494316,
          -0.2071529119257945
        ],
        "eef_pose_l": [
          467.75437837990034,
          337.0811320525557,
          99.13551951210647,
          1.6966387261539515,
          -0.05906297850691671,
          0.8240705814856135
        ],
        "eef_pose_r": [
          468.8639460302205,
          -378.69958788026713,
          89.6734338744975,
          1.69958908895296,
          0.0009652572572617159,
          2.3466578811205894
        ],
        "joint_status_l": {
          "velocity": [
            0.6159493316579834,
            -5.0777906832424335,
            1.0438180948126874,
            -2.671379775131655,
            1.366660171492673,
            9.674062875402178,
            -0.3971236308983883
          ],
          "torque": [
            -15.81298828125,
            1.171875,
            -11.46240234375,
            -1.4404296875,
            -3.138427734375,
            -0.21240234375,
            0.46600341796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2660197003354625,
            -5.719878051830829,
            -2.531869860965319,
            2.248204370822293,
            2.883984543523149,
            -2.552849717577743,
            -2.8032413432765857
          ],
          "torque": [
            29.033203125,
            5.26611328125,
            9.92431640625,
            -0.640869140625,
            4.1986083984375,
            0.3076171875,
            -0.72052001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.5,
            -9.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.5,
            -9.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -16.8,
            0.2,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -16.8,
            0.2,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -200,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -133,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37064454685694503,
          -0.4029365362283619,
          -0.10296979390983536,
          -1.5170821244829493,
          -0.06842757998035065,
          -0.3718938545455889,
          0.33999763052500626
        ],
        "act_joint_pos_r": [
          -0.46618081467846917,
          -0.41284066482830667,
          0.21676008112718242,
          -1.2718165391299727,
          0.004683352647976591,
          0.6699191825612572,
          -0.23105376213293147
        ],
        "act_eef_pose_l": [
          481.4510875079824,
          315.15749076978364,
          85.06843144788792,
          1.7270833083834924,
          -0.06253183019942532,
          0.8326254377400925
        ],
        "act_eef_pose_r": [
          483.7806644042035,
          -361.04834812687864,
          75.56014334691986,
          1.6984041130464878,
          -0.021484557178209376,
          2.346551792318062
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 13,
      "colors": {
        "rgb_main": "colors/000013_rgb_main.jpg",
        "rgb_wrist_0": "colors/000013_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000013_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000013_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3720651098830159,
          -0.34821808676382887,
          -0.11409465304745155,
          -1.5114609836061,
          -0.09293504483600604,
          -0.4461411472623402,
          0.3489984303284438
        ],
        "joint_pos_r": [
          -0.4666352055510127,
          -0.3577269087419664,
          0.2398211817945029,
          -1.2925148222277725,
          -0.020690963701417563,
          0.7009795725662542,
          -0.21091644327897746
        ],
        "eef_pose_l": [
          469.8820442550684,
          333.32324307018956,
          96.5546409881722,
          1.702130932676697,
          -0.05845184796407731,
          0.8261014299766448
        ],
        "eef_pose_r": [
          470.9895045835149,
          -376.26633075652416,
          87.76514191638236,
          1.699018540885876,
          -0.001946066845858249,
          2.34696068813223
        ],
        "joint_status_l": {
          "velocity": [
            -0.15341628204446067,
            -5.909418253194687,
            1.201449352008166,
            -0.607065310264332,
            2.646728143336885,
            8.01847112124543,
            -0.9720577094616267
          ],
          "torque": [
            -23.8623046875,
            2.16796875,
            -11.62109375,
            -4.296875,
            -0.699462890625,
            0.1171875,
            -0.53466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.049072766910907006,
            -5.9521101092205875,
            -2.490525417949918,
            2.2353486464794514,
            2.7403453435689284,
            -3.3544231871163177,
            -2.1747662949236357
          ],
          "torque": [
            28.0078125,
            5.72021484375,
            10.150146484375,
            0.6103515625,
            4.29931640625,
            -0.02197265625,
            -0.7196044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -17.2,
            -10.0,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.0,
            -17.2,
            -10.0,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.5,
            -0.3,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.5,
            -0.3,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -135,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3580335120548857,
          -0.4277772102289986,
          -0.09835670525742081,
          -1.4839117572278437,
          -0.00399815599735352,
          -0.37658532040797255,
          0.2821407477902815
        ],
        "act_joint_pos_r": [
          -0.4653839983547323,
          -0.4240639426315991,
          0.21352057851137443,
          -1.2710011339286715,
          0.0028809022972438036,
          0.6540653021024474,
          -0.23272491120740238
        ],
        "act_eef_pose_l": [
          489.42548750798244,
          313.84629076978365,
          81.78443144788804,
          1.7448415574768643,
          -0.06877054707807066,
          0.8290540306059229
        ],
        "act_eef_pose_r": [
          487.0630644042035,
          -357.9091481268787,
          72.9177433469199,
          1.702478076587073,
          -0.02062382076283799,
          2.3417575832734627
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3709046647372171,
          -0.3596838246767213,
          -0.11179507266738398,
          -1.51006320709114,
          -0.0839564448889866,
          -0.43335186460603686,
          0.34323543084331404
        ],
        "joint_pos_r": [
          -0.4664380258795864,
          -0.3708778779917475,
          0.23450202328696407,
          -1.2880043197046982,
          -0.015514596523268346,
          0.6923672626947259,
          -0.21541532957560156
        ],
        "eef_pose_l": [
          472.56596721302986,
          330.06934965189885,
          94.16410543477468,
          1.708161304493513,
          -0.059272778023734415,
          0.8268909206395206
        ],
        "eef_pose_r": [
          474.2144493618289,
          -372.73532309145514,
          84.84927998186853,
          1.6991052240227542,
          -0.006098537312448244,
          2.3462161698839443
        ],
        "joint_status_l": {
          "velocity": [
            -1.3900434925506744,
            -7.353868748880998,
            1.4513008764447388,
            2.824273287748369,
            8.635240517491205,
            6.130605960833702,
            -6.598031171200169
          ],
          "torque": [
            -28.35205078125,
            3.06884765625,
            -11.138916015625,
            -0.52490234375,
            -0.4046630859375,
            0.3680419921875,
            -1.61407470703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.11383161540035047,
            -5.743925573074904,
            -2.2659292057540803,
            1.8362899053361303,
            1.9866552793499082,
            -4.136489744722915,
            -1.8693796818278763
          ],
          "torque": [
            30.5859375,
            4.189453125,
            9.80224609375,
            -0.634765625,
            4.0264892578125,
            0.3497314453125,
            -0.79742431640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -16.0,
            -8.8,
            1.3,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -1.5,
            -16.0,
            -8.8,
            1.3,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            -1.5,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            -1.5,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -135,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3522789424184678,
          -0.43900659997157176,
          -0.09667881278937276,
          -1.471344617697501,
          0.013582722475222573,
          -0.3813072533103954,
          0.2545577386094892
        ],
        "act_joint_pos_r": [
          -0.46314913443075595,
          -0.4290657845955254,
          0.2125260140228607,
          -1.2707197101697045,
          -0.002765457737673227,
          0.6475204613237115,
          -0.22940864138964592
        ],
        "act_eef_pose_l": [
          492.50788750798233,
          312.0118907697837,
          81.61083144788796,
          1.7474276273588703,
          -0.059157224714089206,
          0.826340378815909
        ],
        "act_eef_pose_r": [
          488.5982644042035,
          -356.35714812687866,
          72.30654334691985,
          1.7052237508300014,
          -0.019094861590550374,
          2.3408038389333163
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.36821402220250743,
          -0.37253296633792227,
          -0.10929807735233915,
          -1.5045332981661679,
          -0.06855153512605236,
          -0.42365552197508843,
          0.3304445940655003
        ],
        "joint_pos_r": [
          -0.4659700235638288,
          -0.3809119620652079,
          0.23066699073579003,
          -1.2849625480087579,
          -0.012973681665519838,
          0.6847703619878902,
          -0.21805788711420265
        ],
        "eef_pose_l": [
          475.7903115218741,
          327.1279615053885,
          91.79656795102622,
          1.7153019691914697,
          -0.05983339036426993,
          0.8268248493516007
        ],
        "eef_pose_r": [
          476.7446334603853,
          -369.99637136227824,
          82.66480637860644,
          1.6998587494454982,
          -0.00856362540489637,
          2.3452567645039464
        ],
        "joint_status_l": {
          "velocity": [
            -1.7209378603273429,
            -7.178940700895975,
            1.3628403779720744,
            3.5842717781697786,
            8.870238207246084,
            4.573478128259811,
            -8.195538674756975
          ],
          "torque": [
            -30.9521484375,
            4.16015625,
            -10.699462890625,
            -0.177001953125,
            -0.413818359375,
            0.047607421875,
            -1.190185546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.30464704128796427,
            -5.2004594539210025,
            -1.9591677024337617,
            1.5381811203898366,
            1.1024556690155396,
            -4.022870623504815,
            -1.225845307373019
          ],
          "torque": [
            31.259765625,
            5.3759765625,
            10.3515625,
            -0.811767578125,
            4.0704345703125,
            -0.3094482421875,
            -0.79193115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.4,
            -9.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -16.4,
            -9.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.2,
            -0.8,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.2,
            -0.8,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -116,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3371342531455196,
          -0.4635121981718832,
          -0.09338767143989887,
          -1.461746962897418,
          0.0779380860883294,
          -0.3778158172416103,
          0.20777739841183826
        ],
        "act_joint_pos_r": [
          -0.4577908678074008,
          -0.44264146722119424,
          0.20855339343908819,
          -1.2658583943133246,
          -0.01370447400633612,
          0.6289455540316501,
          -0.22056608201644756
        ],
        "act_eef_pose_l": [
          497.3518875079824,
          303.4982907697837,
          81.58763144788787,
          1.7600391398210902,
          -0.07634935512263283,
          0.808451068927798
        ],
        "act_eef_pose_r": [
          493.3854644042035,
          -353.78034812687866,
          70.0385433469196,
          1.712820148647898,
          -0.01826826739606049,
          2.3325977985238198
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.36370901651600307,
          -0.3880044409270204,
          -0.10647788149794073,
          -1.4970352796731328,
          -0.04650842687538095,
          -0.41484009384611126,
          0.3111671849757254
        ],
        "joint_pos_r": [
          -0.46465796266682735,
          -0.39248201525918214,
          0.2264669154401301,
          -1.2814227934886786,
          -0.012441546378662394,
          0.6746979976201236,
          -0.21911118472309934
        ],
        "eef_pose_l": [
          479.5705628890607,
          323.4132248998467,
          89.53359285029259,
          1.7233447526803618,
          -0.060668682331749685,
          0.8247670437271476
        ],
        "eef_pose_r": [
          479.86307494640886,
          -366.98437984011326,
          80.24626343706299,
          1.7018453863371046,
          -0.010724903960852293,
          2.3431547079437505
        ],
        "joint_status_l": {
          "velocity": [
            -2.8699897981878664,
            -8.154597275454645,
            1.4137009913864906,
            3.811025811579327,
            13.439827013571437,
            3.9985039437162584,
            -11.165767632186796
          ],
          "torque": [
            -31.50146484375,
            0.76904296875,
            -10.223388671875,
            -0.79345703125,
            0.216064453125,
            0.2911376953125,
            -1.04461669921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7416243717766058,
            -5.417061044221683,
            -1.934603318037631,
            1.6809055352808855,
            -0.13639216111699382,
            -4.941118177064219,
            -0.1571242735487477
          ],
          "torque": [
            30.81298828125,
            7.09716796875,
            11.0595703125,
            -0.018310546875,
            2.33642578125,
            -0.069580078125,
            -0.52093505859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -14.8,
            -9.8,
            1.2,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -14.8,
            -9.8,
            1.2,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.9,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.9,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -59,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33319097505340717,
          -0.4851463492908478,
          -0.090659300142633,
          -1.4432413982297587,
          0.07775973250029643,
          -0.386475559768387,
          0.2138519789532763
        ],
        "act_joint_pos_r": [
          -0.4531568691677039,
          -0.459197486404173,
          0.20360586192635569,
          -1.2528330579077485,
          -0.025656449972836004,
          0.6227336844504887,
          -0.20666010399802137
        ],
        "act_eef_pose_l": [
          501.7814875079823,
          297.77589076978364,
          80.85483144788788,
          1.7574552423614942,
          -0.080148078630601,
          0.7961853667418428
        ],
        "act_eef_pose_r": [
          497.8750644042035,
          -350.84274812687863,
          66.78414334691979,
          1.7204900919879194,
          -0.023821226837055235,
          2.330770119280331
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.35916711249641153,
          -0.4013674511621474,
          -0.10420611786654654,
          -1.49042152420727,
          -0.02605783146484005,
          -0.40913369732208166,
          0.29443710184323274
        ],
        "joint_pos_r": [
          -0.4641628331200671,
          -0.39609859945149045,
          0.22517531918133116,
          -1.2803005730931485,
          -0.012532605668898123,
          0.6713991664373812,
          -0.21921608536189688
        ],
        "eef_pose_l": [
          482.6916069702865,
          319.9399846744805,
          88.01135196887645,
          1.729609736592683,
          -0.06299729685386016,
          0.8211911215068072
        ],
        "eef_pose_r": [
          480.8592699740964,
          -366.0598261641395,
          79.50188870892453,
          1.702596670488881,
          -0.011323459601935202,
          2.3423725937254987
        ],
        "joint_status_l": {
          "velocity": [
            -2.805340104760745,
            -9.047854145705525,
            1.4630131649159273,
            5.095303327633971,
            11.211966228966974,
            2.447006685194708,
            -8.702936592721144
          ],
          "torque": [
            -33.25927734375,
            3.58154296875,
            -10.369873046875,
            -0.45166015625,
            -0.1849365234375,
            0.025634765625,
            -0.6976318359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6881519578110229,
            -5.026481470981281,
            -1.795115036074435,
            1.5597093070542911,
            -0.12655804781319668,
            -4.584854916751091,
            -0.1457953386876376
          ],
          "torque": [
            32.61474609375,
            4.423828125,
            10.9619140625,
            0.262451171875,
            2.2119140625,
            -0.1849365234375,
            -0.51910400390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.4,
            -9.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.4,
            -9.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.3,
            -0.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.3,
            -0.4,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -204,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -82,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33333137836977406,
          -0.504427129889418,
          -0.08838874664593946,
          -1.425358930108527,
          0.07644408650005,
          -0.39823747220654426,
          0.22326368471355168
        ],
        "act_joint_pos_r": [
          -0.449812633704425,
          -0.4741765366296724,
          0.19895839571825635,
          -1.236885100963569,
          -0.02780574129442348,
          0.6259700258749312,
          -0.20425646384712162
        ],
        "act_eef_pose_l": [
          504.9238875079824,
          292.48549076978367,
          78.57163144788802,
          1.7569621778945514,
          -0.08349341974169106,
          0.7820420094668611
        ],
        "act_eef_pose_r": [
          501.5086644042035,
          -348.43554812687864,
          64.46014334691972,
          1.7223235620285064,
          -0.02682256379404853,
          2.333112622172743
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.35459015652211145,
          -0.4183559623977146,
          -0.10155471093800877,
          -1.480061773101181,
          -0.007850474572249503,
          -0.40645479552307734,
          0.28125101808857134
        ],
        "joint_pos_r": [
          -0.46189784026758335,
          -0.4089041863163585,
          0.22082330328546212,
          -1.27411760123967,
          -0.015022309729823326,
          0.662508894663086,
          -0.2168392843074677
        ],
        "eef_pose_l": [
          486.48429466091795,
          315.56204708383063,
          86.34976732275373,
          1.7344897615651418,
          -0.06608850429554018,
          0.8150276584626273
        ],
        "eef_pose_r": [
          484.3497342735281,
          -363.1622251646424,
          76.91683895818102,
          1.705927571556523,
          -0.014097036249820626,
          2.3403087428946754
        ],
        "joint_status_l": {
          "velocity": [
            -2.295880327081612,
            -9.295411935583253,
            1.4218822073694959,
            5.9077328039425225,
            9.103544101127202,
            0.887444744402277,
            -6.262447303492014
          ],
          "torque": [
            -33.84521484375,
            3.17138671875,
            -10.16845703125,
            0.335693359375,
            -0.4193115234375,
            -0.05859375,
            -0.6243896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3051638150720635,
            -7.0492059286224595,
            -2.3613403732467564,
            4.020991437016619,
            -1.380569891244396,
            -3.946081445669769,
            1.3589045309705394
          ],
          "torque": [
            32.74658203125,
            6.96533203125,
            10.70556640625,
            -0.225830078125,
            1.746826171875,
            -0.1812744140625,
            0.62255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.4,
            -9.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.4,
            -16.4,
            -9.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.1,
            -0.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.1,
            -0.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 3,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3339760275727016,
          -0.5186745566596935,
          -0.08698139565595862,
          -1.409377020904703,
          0.07224552436741495,
          -0.4024413963055437,
          0.22513399597881062
        ],
        "act_joint_pos_r": [
          -0.4493550307152594,
          -0.48014583274971734,
          0.1978757299422854,
          -1.234805035047399,
          -0.027197876778358943,
          0.6231527683083387,
          -0.205832478380871
        ],
        "act_eef_pose_l": [
          508.4030875079824,
          290.18469076978363,
          76.6636314478879,
          1.7565430308310297,
          -0.07905971332943176,
          0.7803340072828078
        ],
        "act_eef_pose_r": [
          502.82626440420347,
          -346.4923481268787,
          63.721743346919766,
          1.722020838572344,
          -0.02695028351764406,
          2.3340904255605817
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3508955459862631,
          -0.43499119160258887,
          -0.09908687531345313,
          -1.4688002067337367,
          0.00663590165438407,
          -0.40542004784093366,
          0.27118440093855395
        ],
        "joint_pos_r": [
          -0.4597280801714098,
          -0.4208752832832369,
          0.2168793417140965,
          -1.2673846057881473,
          -0.017238699806078266,
          0.6558453862829763,
          -0.21472816927010432
        ],
        "eef_pose_l": [
          490.1673548823603,
          311.40296510581214,
          84.690067596896,
          1.7383376251065263,
          -0.0685021966436547,
          0.8089753923102653
        ],
        "eef_pose_r": [
          487.5350952909056,
          -360.52714294869565,
          74.61401475226478,
          1.7087177785109022,
          -0.016578797199826096,
          2.3390480073806486
        ],
        "joint_status_l": {
          "velocity": [
            -1.8272540966859374,
            -9.03753687826514,
            1.30735324468656,
            6.417514795053592,
            7.085630273513208,
            0.3216848782341408,
            -4.973297056096282
          ],
          "torque": [
            -33.046875,
            2.8125,
            -10.498046875,
            -0.29296875,
            -0.5181884765625,
            -0.1849365234375,
            -0.67657470703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.120256301070821,
            -6.401030554075149,
            -2.052329541131659,
            3.518489867689212,
            -1.0755593910777432,
            -3.530698608871674,
            0.9607062815200074
          ],
          "torque": [
            30.71044921875,
            6.01318359375,
            10.198974609375,
            -0.335693359375,
            1.431884765625,
            0.18310546875,
            0.7012939453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.4,
            -9.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.4,
            -9.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.3,
            -1.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.3,
            -1.0,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 9,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33720822487324265,
          -0.5414680516080915,
          -0.08473602007745898,
          -1.3920663628300884,
          0.06059377971417754,
          -0.39902776676223267,
          0.23616227571356083
        ],
        "act_joint_pos_r": [
          -0.4463675904425988,
          -0.4939837810686178,
          0.1944271783161561,
          -1.2237952750812433,
          -0.030528431330415717,
          0.6234862896603743,
          -0.2007183477477506
        ],
        "act_eef_pose_l": [
          513.3222875079824,
          284.8646907697837,
          73.16603144788775,
          1.755353035912759,
          -0.07457206303415409,
          0.7791742078612818
        ],
        "act_eef_pose_r": [
          505.9566644042035,
          -343.1915481268786,
          61.91214334691972,
          1.7235258976134784,
          -0.031310394227047574,
          2.337063717946802
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34834710314336426,
          -0.4503917973863105,
          -0.0969348954085565,
          -1.4577831833988553,
          0.016581706482785813,
          -0.40468424276106263,
          0.26440908737999774
        ],
        "joint_pos_r": [
          -0.4577204383088667,
          -0.4321589349203313,
          0.21331894879542043,
          -1.2609844889981812,
          -0.019193103831137277,
          0.6500844374328458,
          -0.21285815530223243
        ],
        "eef_pose_l": [
          492.7578219380581,
          308.4509800030886,
          83.16173638438389,
          1.741164743220062,
          -0.06976415654559148,
          0.8050307576244068
        ],
        "eef_pose_r": [
          490.47082139202297,
          -357.95088602496486,
          72.54095759492989,
          1.7110817834085361,
          -0.01885061074287936,
          2.338292364436567
        ],
        "joint_status_l": {
          "velocity": [
            -1.2029633736654333,
            -9.835945360250342,
            1.317439679952237,
            7.097207300486019,
            4.75316372191989,
            0.6108813908900501,
            -3.0505656883497156
          ],
          "torque": [
            -32.68798828125,
            2.27783203125,
            -9.87548828125,
            -1.116943359375,
            -0.3497314453125,
            0.201416015625,
            -0.50079345703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.226071408513718,
            -6.676886459775044,
            -2.0402510377728333,
            4.016316648101537,
            -1.2241792646846272,
            -2.8725152391189113,
            1.3110605482200555
          ],
          "torque": [
            32.0654296875,
            3.28857421875,
            9.9365234375,
            1.85546875,
            1.22314453125,
            -0.4522705078125,
            0.74066162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.6,
            -9.1,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.6,
            -9.1,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.6,
            -0.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.6,
            -0.3,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 15,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3420815348694478,
          -0.5557279338679261,
          -0.08359530067333545,
          -1.386941155735896,
          0.05816546642038677,
          -0.38920231065681643,
          0.2397335779958556
        ],
        "act_joint_pos_r": [
          -0.4415558698253639,
          -0.5119401193781747,
          0.18985127957619868,
          -1.20501860747681,
          -0.04632755277698708,
          0.6379819824647266,
          -0.17978190738749192
        ],
        "act_eef_pose_l": [
          515.6958875079823,
          280.53429076978364,
          69.40523144788773,
          1.7583422480740936,
          -0.07137940122620534,
          0.7796801534101021
        ],
        "act_eef_pose_r": [
          508.5710644042035,
          -338.3787481268787,
          58.99054334691982,
          1.7296084578808795,
          -0.04297547558506263,
          2.3507688216365485
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3467962042336001,
          -0.46771956703946765,
          -0.09468006002892163,
          -1.445723714230678,
          0.024154853266984563,
          -0.40284026251776045,
          0.25972153796933817
        ],
        "joint_pos_r": [
          -0.4554335513112466,
          -0.4441335264425423,
          0.2097128204588536,
          -1.2533180152067223,
          -0.022115368582979786,
          0.6462240028920256,
          -0.20949512321465918
        ],
        "eef_pose_l": [
          497.40991089529956,
          303.47114130872865,
          80.91356925774278,
          1.743902055224476,
          -0.07015113984782674,
          0.7998396200877037
        ],
        "eef_pose_r": [
          493.4132034916556,
          -355.16899535200815,
          70.44256084601093,
          1.713553751823831,
          -0.021920013132300152,
          2.3388305572623858
        ],
        "joint_status_l": {
          "velocity": [
            -0.5091692741836518,
            -9.504623293593362,
            1.1971187032745467,
            6.348329083479598,
            3.673037890105535,
            1.4728553614355988,
            -2.158636011570181
          ],
          "torque": [
            -33.22998046875,
            0.556640625,
            -9.33837890625,
            -0.23193359375,
            -0.5657958984375,
            0.4229736328125,
            -0.59600830078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4987453973427378,
            -7.322896059773765,
            -2.14498315243028,
            5.216182191759344,
            -2.614838772405592,
            -0.8901119536997015,
            3.2089326669242357
          ],
          "torque": [
            33.57421875,
            -0.3515625,
            10.394287109375,
            3.424072265625,
            0.9246826171875,
            1.212158203125,
            0.73516845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.0,
            -9.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -16.0,
            -9.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.5,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.5,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 0,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34472240729808173,
          -0.5595341450046327,
          -0.08365097095306208,
          -1.3933264765695947,
          0.06322254806391442,
          -0.3900693141433537,
          0.23178953026136212
        ],
        "act_joint_pos_r": [
          -0.43952206267195404,
          -0.5327458772920886,
          0.18472222613676081,
          -1.1784140339188012,
          -0.05379765947804538,
          0.6565624107195512,
          -0.1686570175214819
        ],
        "act_eef_pose_l": [
          513.9134875079824,
          276.0662907697837,
          68.14043144788803,
          1.7595076038643405,
          -0.06416330461757226,
          0.7693385748934701
        ],
        "act_eef_pose_r": [
          511.8174644042035,
          -334.3371481268787,
          54.818543346919796,
          1.7339032960670129,
          -0.05409262779051749,
          2.3630417316909953
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3464545991513272,
          -0.477925114106056,
          -0.09343323841197346,
          -1.4395509171655163,
          0.02835733130692032,
          -0.4013638299928996,
          0.256893260401463
        ],
        "joint_pos_r": [
          -0.45300548414413777,
          -0.4567807456179222,
          0.20607786204436,
          -1.2434595815564025,
          -0.026634346501422282,
          0.6462087345377681,
          -0.20380828509406976
        ],
        "eef_pose_l": [
          499.424216007579,
          300.6673305596209,
          79.48870445303433,
          1.7456239676362786,
          -0.06967600741879394,
          0.7968305486081846
        ],
        "eef_pose_r": [
          496.2028940924183,
          -352.2428137979786,
          68.20570237599156,
          1.7163829120778737,
          -0.02636534700809485,
          2.341653717542033
        ],
        "joint_status_l": {
          "velocity": [
            -0.18707120278049771,
            -8.813515396304261,
            1.0564537271253727,
            4.992092350466493,
            3.765332357213685,
            1.2197717365065586,
            -2.7111228948355492
          ],
          "torque": [
            -33.544921875,
            1.57470703125,
            -9.5947265625,
            -1.690673828125,
            -0.2435302734375,
            -0.19775390625,
            -0.68115234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4561665716588124,
            -8.203992256992088,
            -2.3063406561392163,
            7.024711962056784,
            -2.9335512810051148,
            1.1181640491466638,
            3.7962249341700893
          ],
          "torque": [
            33.30322265625,
            6.01318359375,
            9.881591796875,
            -2.032470703125,
            1.3165283203125,
            1.556396484375,
            1.01348876953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.8,
            -16.4,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.8,
            -16.4,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -16.7,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.7,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 19,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3445137838758659,
          -0.5675494301329769,
          -0.08290707214515167,
          -1.3807514640569056,
          0.07134238815392284,
          -0.4080173453504795,
          0.22603148987933852
        ],
        "act_joint_pos_r": [
          -0.43562067881828437,
          -0.5520384452524348,
          0.18026830366635171,
          -1.1500099907517773,
          -0.059517021864078146,
          0.6768389891881296,
          -0.1639794425200597
        ],
        "act_eef_pose_l": [
          514.2878875079824,
          273.70949076978366,
          66.803631447888,
          1.7611131914726899,
          -0.06245881550190987,
          0.7554302884538288
        ],
        "act_eef_pose_r": [
          515.3046644042035,
          -331.4643481268787,
          52.09374334691984,
          1.7359470545452478,
          -0.05826544827444289,
          2.374456699508483
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3461121085494854,
          -0.493930163005045,
          -0.0915303907401455,
          -1.4299061035438796,
          0.03553360471190212,
          -0.40052283214017514,
          0.2517325598024942
        ],
        "joint_pos_r": [
          -0.4501215438316452,
          -0.4727979309822056,
          0.2016583260557885,
          -1.2287240555926107,
          -0.03226043219279727,
          0.649907434590012,
          -0.19676165460209533
        ],
        "eef_pose_l": [
          502.30586882293284,
          295.98327992296066,
          77.2070730242265,
          1.7483532630867693,
          -0.06840795699032574,
          0.7906418612639701
        ],
        "eef_pose_r": [
          499.5455555689148,
          -348.7750862625898,
          65.38314247431327,
          1.7196653709175864,
          -0.03214619951539002,
          2.3466394458074977
        ],
        "joint_status_l": {
          "velocity": [
            -0.17261397377410503,
            -7.9506463580365505,
            0.9312909413012882,
            5.30854449744389,
            3.8672345537519304,
            -0.8093835552207551,
            -2.7756336887612143
          ],
          "torque": [
            -34.4384765625,
            0.99609375,
            -10.345458984375,
            -0.262451171875,
            -0.234375,
            -1.190185546875,
            -0.75439453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.566047233348744,
            -8.557723144631879,
            -2.3100542866498763,
            8.500868283102037,
            -2.943624866923622,
            2.908522114322132,
            3.5403744870958764
          ],
          "torque": [
            33.10546875,
            5.4345703125,
            9.85107421875,
            -0.54931640625,
            1.1224365234375,
            1.8255615234375,
            0.61798095703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.4,
            -5.3,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.4,
            -16.4,
            -5.3,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -16.6,
            -0.6,
            0.9,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.6,
            -0.6,
            0.9,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 47,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3450725275420772,
          -0.5775055252001424,
          -0.08195639304538427,
          -1.3606860937353242,
          0.06861182951839492,
          -0.4277173785766838,
          0.2242385846012633
        ],
        "act_joint_pos_r": [
          -0.43325900890295443,
          -0.5695223861715177,
          0.1766247167396431,
          -1.1231716653853363,
          -0.053657934197963275,
          0.6878789329647212,
          -0.1701794118229222
        ],
        "act_eef_pose_l": [
          516.1446875079824,
          272.7342907697837,
          65.27643144788777,
          1.760105656224798,
          -0.054781733533823984,
          0.7471377083013976
        ],
        "act_eef_pose_r": [
          519.8118644042034,
          -330.28514812687865,
          50.145743346919744,
          1.7334594120706683,
          -0.059374835224992005,
          2.375686594066599
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34583449858735943,
          -0.5082840748420229,
          -0.08985852247141633,
          -1.4197330471829994,
          0.042182902353002136,
          -0.4028045391210284,
          0.24679538382047994
        ],
        "joint_pos_r": [
          -0.44717750861746136,
          -0.4892789496191096,
          0.19730188611097768,
          -1.2115391460790823,
          -0.0369097255152094,
          0.6559466720549297,
          -0.19109709067117203
        ],
        "eef_pose_l": [
          504.74931082928725,
          291.835643316655,
          75.15492217355293,
          1.7506577749279233,
          -0.06689714972552194,
          0.783636521593944
        ],
        "eef_pose_r": [
          503.00986544731296,
          -345.57374128994473,
          62.64536694975027,
          1.7223115314031752,
          -0.03734721236922745,
          2.351940852727198
        ],
        "joint_status_l": {
          "velocity": [
            -0.0822904458637197,
            -7.475696154804368,
            0.8534048081820789,
            6.376882896242719,
            2.8542399525547935,
            -2.6905073089391607,
            -2.4360624678534393
          ],
          "torque": [
            -35.068359375,
            3.4716796875,
            -11.42578125,
            -0.45166015625,
            -0.30029296875,
            -1.5911865234375,
            -0.60882568359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5031536360199382,
            -8.66603555660328,
            -2.2330684312714677,
            9.543406447196645,
            -1.8087531914136035,
            3.4485824677537025,
            2.259042688708579
          ],
          "torque": [
            33.71337890625,
            3.7939453125,
            10.58349609375,
            -0.64697265625,
            1.3037109375,
            1.937255859375,
            0.68389892578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.1,
            -9.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.1,
            -9.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.1,
            0.7,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.1,
            0.7,
            0.9,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 47,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.344605061065879,
          -0.5800506545614154,
          -0.0818465292317874,
          -1.3576867584685972,
          0.07009987823556806,
          -0.42732391845093126,
          0.2232757292105047
        ],
        "act_joint_pos_r": [
          -0.43567948953024965,
          -0.5758248031404731,
          0.17587732333821407,
          -1.1177669141153208,
          -0.04557088912474683,
          0.6796211362368901,
          -0.17618465687261234
        ],
        "act_eef_pose_l": [
          516.9846875079824,
          272.49749076978367,
          65.06523144788804,
          1.7606306808318821,
          -0.055398191977871256,
          0.7477822948276625
        ],
        "act_eef_pose_r": [
          522.1710644042034,
          -330.04514812687864,
          48.484143346919836,
          1.732319667524278,
          -0.061273628499826385,
          2.3673419071630066
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3456859902478757,
          -0.520598064346594,
          -0.08845811970334211,
          -1.4092045998666802,
          0.046899640994878096,
          -0.40719773555198446,
          0.24277875775352442
        ],
        "joint_pos_r": [
          -0.44531414914406287,
          -0.5006190317474227,
          0.19440561917768057,
          -1.1990962544408068,
          -0.038999322850450824,
          0.6601418906461938,
          -0.18836652513600138
        ],
        "eef_pose_l": [
          506.8676061695973,
          288.53583851801517,
          73.39705356527963,
          1.7522613362629424,
          -0.0647565339587847,
          0.777219881921529
        ],
        "eef_pose_r": [
          505.48103304618115,
          -343.55975015807905,
          60.819059288809,
          1.7236980189038082,
          -0.04058695030239213,
          2.354943543217579
        ],
        "joint_status_l": {
          "velocity": [
            -0.11673690868452269,
            -6.420690375060101,
            0.714030711717828,
            5.563762776581882,
            2.5055517246964643,
            -2.173563647253296,
            -2.1062649616818696
          ],
          "torque": [
            -36.20361328125,
            3.21533203125,
            -10.9375,
            0.18310546875,
            -0.333251953125,
            -1.70654296875,
            -0.62896728515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.040512550015027,
            -8.121983765342566,
            -2.00099693441258,
            8.783309705281184,
            -0.7097082258987197,
            2.103696478583217,
            1.3156029708105699
          ],
          "torque": [
            35.06103515625,
            5.20751953125,
            11.09619140625,
            0.59814453125,
            1.292724609375,
            2.1331787109375,
            0.83221435546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -15.6,
            -8.2,
            1.3,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -15.6,
            -8.2,
            1.3,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.3,
            -0.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.3,
            -0.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 114,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3426227874261762,
          -0.5948694830450546,
          -0.0804147186473303,
          -1.334984739205975,
          0.07736450566412427,
          -0.4357258996936116,
          0.2156665458969377
        ],
        "act_joint_pos_r": [
          -0.4379626853442656,
          -0.5901234497309378,
          0.17334761616574515,
          -1.1040963165650202,
          -0.04384010242383596,
          0.6639740614997505,
          -0.17718314647092637
        ],
        "act_eef_pose_l": [
          521.2838875079824,
          271.4310907697836,
          63.19723144788787,
          1.7638108910478845,
          -0.05386792239227216,
          0.746776130166643
        ],
        "act_eef_pose_r": [
          527.1014644042035,
          -329.43954812687866,
          44.008143346919724,
          1.7383667249324437,
          -0.06374563070001937,
          2.3521693892031506
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3452061089325468,
          -0.5338966971508556,
          -0.08700925535868599,
          -1.396310127168802,
          0.05229516441301273,
          -0.412170246395676,
          0.23803424893435823
        ],
        "joint_pos_r": [
          -0.4439878982983989,
          -0.5145960094793198,
          0.1910741944522925,
          -1.1841834613616815,
          -0.03988435084034634,
          0.6615785276862816,
          -0.18647655519121378
        ],
        "eef_pose_l": [
          509.4566663348304,
          285.45114826029493,
          71.5587774083314,
          1.7541666851977324,
          -0.06276114578836678,
          0.7715334295362369
        ],
        "eef_pose_r": [
          508.86773693542193,
          -341.4223771693563,
          58.25024909019436,
          1.7256545445364253,
          -0.044457350792379495,
          2.3552111581352024
        ],
        "joint_status_l": {
          "velocity": [
            -0.27899049430324396,
            -6.584866666312195,
            0.7121889599359665,
            6.622946566618992,
            2.7074090043597843,
            -2.5439355268090935,
            -2.4156406825279753
          ],
          "torque": [
            -35.9912109375,
            3.9697265625,
            -10.97412109375,
            -0.146484375,
            -0.4119873046875,
            -2.08740234375,
            -0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6507038075636018,
            -8.156722977489927,
            -1.914413992324837,
            8.649156544803915,
            -0.42720857117356514,
            0.2587100216100424,
            1.0036585404646914
          ],
          "torque": [
            34.98779296875,
            4.9365234375,
            10.1806640625,
            0.0244140625,
            1.34033203125,
            2.0196533203125,
            0.8184814453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.2,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.2,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.4,
            -1.5,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.4,
            -1.5,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 104,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3448652704095841,
          -0.6113195077917334,
          -0.07911166216328193,
          -1.32403727013801,
          0.09337642057994242,
          -0.4285207219770464,
          0.20328127206730112
        ],
        "act_joint_pos_r": [
          -0.440206821345118,
          -0.6098983340005131,
          0.169878324631443,
          -1.0808695878980938,
          -0.03373711838511584,
          0.6503242024832664,
          -0.1871735308480638
        ],
        "act_eef_pose_l": [
          524.4662875079823,
          267.44549076978365,
          58.86123144788786,
          1.7728331536589723,
          -0.053042601809034536,
          0.7466156340266846
        ],
        "act_eef_pose_r": [
          533.7950644042035,
          -329.0651481268787,
          39.19294334691972,
          1.7410308760427673,
          -0.0643757939082588,
          2.3344254083893703
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34503702244586293,
          -0.5447882715058153,
          -0.08587862831088164,
          -1.3859123423689383,
          0.05769319560058554,
          -0.4150292143620067,
          0.2334070377442271
        ],
        "joint_pos_r": [
          -0.4431458034367065,
          -0.5299168087484195,
          0.18759491259806213,
          -1.1677131295925736,
          -0.039578865619784215,
          0.660644392208222,
          -0.1858270980082098
        ],
        "eef_pose_l": [
          511.6365803960181,
          283.01023152182,
          69.85574643701736,
          1.7564361921428016,
          -0.06131356027086611,
          0.7677622039780255
        ],
        "eef_pose_r": [
          512.8637551224593,
          -339.43192429937676,
          55.22910879794651,
          1.727982571553208,
          -0.04816405455400755,
          2.352845395523726
        ],
        "joint_status_l": {
          "velocity": [
            -0.01854867285411288,
            -7.1851616038651756,
            0.7308107898287286,
            6.682310716721318,
            3.853674639712479,
            -1.4570398493307657,
            -3.2534867366460496
          ],
          "torque": [
            -32.57080078125,
            1.04736328125,
            -10.247802734375,
            -1.3427734375,
            -0.24169921875,
            -2.1258544921875,
            -0.56488037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3174007046582439,
            -8.637749970408226,
            -1.9133350695934581,
            9.378825889321263,
            0.6308900942354478,
            -1.1145476184708514,
            -0.14541045805183117
          ],
          "torque": [
            35.9619140625,
            3.9697265625,
            9.3505859375,
            -0.897216796875,
            3.3087158203125,
            0.7598876953125,
            -0.30853271484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -15.6,
            -11.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -15.6,
            -11.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -16.3,
            0.2,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -16.3,
            0.2,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34201946268299777,
          -0.6234866432264017,
          -0.07820946943038137,
          -1.316458992367692,
          0.09942749028152639,
          -0.42607334568988753,
          0.19085833628516966
        ],
        "act_joint_pos_r": [
          -0.4394565176269012,
          -0.6319954792063959,
          0.16623740190026573,
          -1.0548031132306863,
          -0.033254768751359354,
          0.6448661120409591,
          -0.18864050054276046
        ],
        "act_eef_pose_l": [
          527.1174875079824,
          263.8438907697837,
          58.66683144788777,
          1.77329057123349,
          -0.04691478771078125,
          0.7456402867246033
        ],
        "act_eef_pose_r": [
          540.0902644042035,
          -327.0819481268787,
          34.8217433469199,
          1.745716751928361,
          -0.06547485412596475,
          2.3251643906201225
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34468552626345067,
          -0.5579245273223837,
          -0.08458036583104754,
          -1.374117155156231,
          0.06468510955448013,
          -0.4171384574812892,
          0.2266787099581615
        ],
        "joint_pos_r": [
          -0.4425880193758275,
          -0.5452632955208531,
          0.1843202430430268,
          -1.150843749159352,
          -0.03857053261431972,
          0.6584049110747091,
          -0.18619435772595316
        ],
        "eef_pose_l": [
          514.4792514960828,
          279.7204698268113,
          67.74051468008082,
          1.759497938538749,
          -0.058939420554285686,
          0.7636258679206226
        ],
        "eef_pose_r": [
          517.0558145898217,
          -337.7062102539477,
          52.13813360601125,
          1.73038083594404,
          -0.05120279217123601,
          2.3488245997736925
        ],
        "joint_status_l": {
          "velocity": [
            -0.2879263747543881,
            -7.080499689458009,
            0.6880365187196258,
            6.226897928625519,
            3.752066457236136,
            -0.9649394671598088,
            -3.8684862617797133
          ],
          "torque": [
            -35.52978515625,
            0.52734375,
            -11.3037109375,
            -1.89208984375,
            -0.3533935546875,
            -2.6898193359375,
            -0.63812255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3381922144378713,
            -9.366799579052287,
            -1.9528892460287661,
            10.372082772066804,
            0.5740855654510213,
            -1.4621471719191703,
            -0.2641756327714795
          ],
          "torque": [
            35.95458984375,
            2.26318359375,
            10.137939453125,
            -0.59814453125,
            3.570556640625,
            0.5072021484375,
            -0.465087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.9,
            -16.1,
            -7.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.9,
            -16.1,
            -7.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.4,
            1.8,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.4,
            1.8,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 87,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3411537643257571,
          -0.6369660070780999,
          -0.0771109410880637,
          -1.296432161978444,
          0.09073456543781061,
          -0.4255264758879799,
          0.19825956799736386
        ],
        "act_joint_pos_r": [
          -0.44144577570827975,
          -0.6524418799687728,
          0.16342773892075485,
          -1.0385191246688072,
          -0.037828902603104,
          0.6289682520947608,
          -0.19484392282437374
        ],
        "act_eef_pose_l": [
          532.1398875079824,
          263.61749076978367,
          57.62923144788789,
          1.7716250984199722,
          -0.047060912349146077,
          0.7531811919575081
        ],
        "act_eef_pose_r": [
          545.4558644042035,
          -323.77074812687863,
          29.090543346919958,
          1.7549500761549257,
          -0.05870851830312514,
          2.3156616828858305
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3441611309818219,
          -0.5700433610753414,
          -0.08342375483025907,
          -1.36264644934682,
          0.06953195138585636,
          -0.4185529169175227,
          0.22152617259458635
        ],
        "joint_pos_r": [
          -0.4422205229303376,
          -0.5639661237741428,
          0.18058486526907583,
          -1.1308509766279373,
          -0.038081814318734274,
          0.6540516166503506,
          -0.187356781103488
        ],
        "eef_pose_l": [
          516.961802441087,
          277.3793356404698,
          66.24427031699776,
          1.7613652629765904,
          -0.05708586886866988,
          0.7616443397225905
        ],
        "eef_pose_r": [
          522.1829740165189,
          -335.5375061911835,
          48.196029442363994,
          1.73406637467321,
          -0.05347354855512408,
          2.3431703624367897
        ],
        "joint_status_l": {
          "velocity": [
            -0.324786019803458,
            -7.227432606566886,
            0.6817637766094453,
            7.150932130315368,
            2.2898147831339477,
            -0.75312215665857,
            -2.5127191878091537
          ],
          "torque": [
            -36.56982421875,
            1.0693359375,
            -11.12060546875,
            -1.519775390625,
            -0.3717041015625,
            -2.0892333984375,
            -0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.08367023226085735,
            -9.555099856413563,
            -1.8529149968120606,
            9.971545916560132,
            0.027313659714756078,
            -2.708923476577141,
            -0.8085874578434016
          ],
          "torque": [
            36.30615234375,
            2.490234375,
            9.63134765625,
            -0.67138671875,
            2.7374267578125,
            0.2545166015625,
            -0.5804443359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.7,
            -10.9,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.7,
            -10.9,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -16.1,
            -1.9,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -16.1,
            -1.9,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 101,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3414977051381774,
          -0.6416980058718148,
          -0.07673878945842157,
          -1.2842293217056064,
          0.08246615349453476,
          -0.43001216414241056,
          0.20359059050285755
        ],
        "act_joint_pos_r": [
          -0.4437566501138472,
          -0.6594526524551236,
          0.16290751444035925,
          -1.034936885037375,
          -0.040399354078441536,
          0.6181820837644535,
          -0.19891390930019234
        ],
        "act_eef_pose_l": [
          534.3334875079823,
          264.7102907697837,
          57.09403144788786,
          1.769791410379081,
          -0.04466416285253471,
          0.7570548995303183
        ],
        "act_eef_pose_r": [
          547.3622644042034,
          -322.66514812687865,
          26.198543346919678,
          1.7602117046910375,
          -0.05402226716787841,
          2.309700088544461
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3436682145264698,
          -0.5824098196101203,
          -0.08226560164831792,
          -1.3495622037287112,
          0.07234772085228526,
          -0.4202920784972485,
          0.2180140089304796
        ],
        "joint_pos_r": [
          -0.4423539236924596,
          -0.5793022408305218,
          0.1777056101137078,
          -1.115267820738666,
          -0.038330293813857816,
          0.6487108868111572,
          -0.18904690104952343
        ],
        "eef_pose_l": [
          519.9593064498687,
          275.1653641990017,
          64.64438938547013,
          1.7629171372958228,
          -0.05499635762670399,
          0.7605951224665691
        ],
        "eef_pose_r": [
          526.3675356055643,
          -333.64103737410636,
          44.7163726506634,
          1.7378988349904185,
          -0.054084089129378794,
          2.3378671519084366
        ],
        "joint_status_l": {
          "velocity": [
            -0.23440810043862115,
            -6.402935271781374,
            0.5968781125299527,
            7.055743160474748,
            1.0927584961738512,
            -1.0497382893013274,
            -1.5576832487715908
          ],
          "torque": [
            -38.28369140625,
            2.373046875,
            -10.662841796875,
            -1.214599609375,
            -0.648193359375,
            -2.420654296875,
            -0.677490234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1514899855514784,
            -8.65598916070276,
            -1.5981471978896433,
            8.675485185982268,
            -0.22345191821299126,
            -3.297013488829492,
            -1.0656054627191658
          ],
          "torque": [
            28.3447265625,
            5.09765625,
            9.539794921875,
            0.048828125,
            1.7486572265625,
            -0.113525390625,
            -0.57861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.2,
            -16.7,
            -8.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.2,
            -16.7,
            -8.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.3,
            0.0,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.3,
            0.0,
            0.9,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 85,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3434109373443051,
          -0.6515792655931154,
          -0.07578174614873832,
          -1.252719036579085,
          0.06269222977850032,
          -0.44422371678910155,
          0.21915327264956722
        ],
        "act_joint_pos_r": [
          -0.4464668489687389,
          -0.6729267140152705,
          0.16126884374586922,
          -1.0242004177486796,
          -0.03485857010423343,
          0.6018701184036848,
          -0.2062093945423327
        ],
        "act_eef_pose_l": [
          539.2862875079824,
          268.4910907697837,
          55.22043144788796,
          1.7662933937527983,
          -0.04111842237247507,
          0.7660297450993924
        ],
        "act_eef_pose_r": [
          551.5718644042036,
          -321.3715481268787,
          22.384143346919927,
          1.763958358205332,
          -0.052705527889221934,
          2.2961910172571387
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34350586071994904,
          -0.5904556164998236,
          -0.08151348970738849,
          -1.3394977858815764,
          0.07247380464338649,
          -0.42234285064824373,
          0.21710068909743524
        ],
        "joint_pos_r": [
          -0.4426312075542322,
          -0.5889382429564274,
          0.17596380237557646,
          -1.1057316468643288,
          -0.038320494131871566,
          0.6445497237227064,
          -0.1904806437798775
        ],
        "eef_pose_l": [
          522.1053239059805,
          274.12696930405724,
          63.572487052008626,
          1.7635607993504565,
          -0.0534483153372601,
          0.760677256819893
        ],
        "eef_pose_r": [
          529.3653205025687,
          -332.290782818376,
          42.158713322593144,
          1.7407796686148118,
          -0.05419965745652192,
          2.333451390887998
        ],
        "joint_status_l": {
          "velocity": [
            -0.010251422219997863,
            -6.601159411285806,
            0.6190100476087812,
            9.371828517362957,
            -1.056378929176649,
            -2.3630638483695954,
            0.22167248574977982
          ],
          "torque": [
            -33.20068359375,
            -2.52685546875,
            -10.760498046875,
            3.656005859375,
            -2.545166015625,
            -2.677001953125,
            -0.68756103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4142370554975905,
            -9.070487354629897,
            -1.587008725688177,
            8.805113051562508,
            0.37387676807904,
            -4.609261431554934,
            -1.6986549831945474
          ],
          "torque": [
            27.25341796875,
            3.50830078125,
            9.814453125,
            -1.092529296875,
            1.842041015625,
            0.73974609375,
            -0.5987548828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -15.8,
            -8.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.8,
            -15.8,
            -8.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.6,
            0.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.6,
            0.1,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 106,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34500770838003575,
          -0.6518318841116568,
          -0.07596231851537046,
          -1.2636241488495212,
          0.059727713551581574,
          -0.42288371623436255,
          0.22584313513242701
        ],
        "act_joint_pos_r": [
          -0.44553140517904755,
          -0.6928229728204806,
          0.15811998655745596,
          -0.9909093882457588,
          -0.02577661391330288,
          0.610085273996027,
          -0.21955525905578754
        ],
        "act_eef_pose_l": [
          539.8102875079824,
          267.48309076978364,
          54.76443144788783,
          1.7672569755702459,
          -0.046209134368853516,
          0.7753686108016011
        ],
        "act_eef_pose_r": [
          557.0270644042034,
          -321.10994812687863,
          19.42414334691989,
          1.7628468003084778,
          -0.04871408490091357,
          2.2912122445934533
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34360420745281106,
          -0.6012810057620205,
          -0.08051308884290916,
          -1.3249408511199807,
          0.07053059317018276,
          -0.42467292038020316,
          0.2179459539080028
        ],
        "joint_pos_r": [
          -0.4432888388706627,
          -0.606249733249586,
          0.1729588722100833,
          -1.0879188800220527,
          -0.03701123720421396,
          0.6370740228804034,
          -0.19441622104852135
        ],
        "eef_pose_l": [
          525.2414857850823,
          273.1275428601248,
          62.051943479035145,
          1.7640930347571737,
          -0.05157575346547218,
          0.7623057586389776
        ],
        "eef_pose_r": [
          533.8476516695031,
          -330.49620860676674,
          38.450560545988424,
          1.7445570976453741,
          -0.05393183466206113,
          2.3263859347516544
        ],
        "joint_status_l": {
          "velocity": [
            0.15157362971462973,
            -5.459333847315229,
            0.491468700279718,
            6.622008539507007,
            -1.1666765895222975,
            0.19322834878554573,
            0.8528704181691715
          ],
          "torque": [
            -31.2744140625,
            1.2158203125,
            -10.63232421875,
            0.08544921875,
            -3.2318115234375,
            -0.8221435546875,
            0.37078857421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2421900182922876,
            -9.349634120938255,
            -1.6025523857277069,
            10.476716117614693,
            1.2133035309435658,
            -2.9146989150632407,
            -2.714936032026438
          ],
          "torque": [
            25.8837890625,
            3.42041015625,
            10.125732421875,
            0.5859375,
            3.8360595703125,
            -0.216064453125,
            -0.91461181640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -15.7,
            -9.9,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -0.4,
            -15.7,
            -9.9,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.4,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.4,
            -1.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 135,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34550959979459633,
          -0.6611012927457988,
          -0.07522103906069212,
          -1.2462584211864949,
          0.057543601189953324,
          -0.42882517140965776,
          0.22622919747447093
        ],
        "act_joint_pos_r": [
          -0.4419743736965854,
          -0.7113767313105814,
          0.1554468913662855,
          -0.9574663877272621,
          -0.020771172843761843,
          0.6198749009362009,
          -0.22702509461450981
        ],
        "act_eef_pose_l": [
          542.7934875079824,
          267.69589076978366,
          53.10363144788795,
          1.7681564671531744,
          -0.043719913420456884,
          0.7778371553266955
        ],
        "act_eef_pose_r": [
          562.5222644042035,
          -321.3579481268787,
          17.85054334691972,
          1.7615762474497292,
          -0.045172552264425604,
          2.2863688288069346
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34388152301826286,
          -0.6107574693796276,
          -0.07966539880083741,
          -1.313090423965149,
          0.06849363493372013,
          -0.4247018307295801,
          0.2193646759397457
        ],
        "joint_pos_r": [
          -0.443478645111713,
          -0.6226347647466692,
          0.17017989948895781,
          -1.0688234207411693,
          -0.03473399625155175,
          0.6328710583025873,
          -0.1992950848517232
        ],
        "eef_pose_l": [
          528.2614435654341,
          272.13284959594824,
          60.55142062423195,
          1.764722490813771,
          -0.050331082637082865,
          0.7649622921170999
        ],
        "eef_pose_r": [
          538.427730534415,
          -329.01068547052813,
          34.98463015931446,
          1.747486362314674,
          -0.053075947643082495,
          2.3197710672239182
        ],
        "joint_status_l": {
          "velocity": [
            0.17582710610053454,
            -5.436972568611864,
            0.4799766957797047,
            7.2176434270811995,
            -1.1825687663254425,
            -0.44530765980077547,
            0.741346460905179
          ],
          "torque": [
            -26.7041015625,
            -2.87109375,
            -10.552978515625,
            2.392578125,
            -3.314208984375,
            -1.776123046875,
            0.42572021484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.16245652143531686,
            -9.583849728363347,
            -1.5911179497332117,
            12.026204871549595,
            1.5079404537149677,
            -1.4035436002641788,
            -2.994752728870509
          ],
          "torque": [
            31.4501953125,
            1.0400390625,
            9.716796875,
            4.901123046875,
            4.19677734375,
            0.831298828125,
            -0.78369140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.2,
            -9.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -16.2,
            -9.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "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": -303,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 116,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34912558138423544,
          -0.6587403824229031,
          -0.0756209406638783,
          -1.2624071091184608,
          0.055871001857144824,
          -0.4134536451019884,
          0.22952933899433273
        ],
        "act_joint_pos_r": [
          -0.4413960387937829,
          -0.7248510788926994,
          0.15389236553268432,
          -0.9408085967739649,
          -0.003171123006795007,
          0.6107447273557159,
          -0.2406357133575783
        ],
        "act_eef_pose_l": [
          540.9638875079823,
          265.40069076978364,
          52.17963144788797,
          1.7692735335430934,
          -0.04380561372899002,
          0.7792156502532344
        ],
        "act_eef_pose_r": [
          567.5622644042035,
          -321.2283481268787,
          17.07054334691975,
          1.7563426101671837,
          -0.044960991634427815,
          2.272000529532998
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34456856770044886,
          -0.6206459829561111,
          -0.0788114850528145,
          -1.3012578039019378,
          0.06612539191103256,
          -0.42400203696372,
          0.22107327126396636
        ],
        "joint_pos_r": [
          -0.44317907036213944,
          -0.6391080819316285,
          0.1674846466303695,
          -1.0481665804727416,
          -0.03124251657178985,
          0.6300426759958587,
          -0.20498889383553215
        ],
        "eef_pose_l": [
          530.8694692742113,
          271.11036993080313,
          59.05443842640372,
          1.7654446657103677,
          -0.04905063167044325,
          0.7675400743109043
        ],
        "eef_pose_r": [
          543.1419673219137,
          -327.8044841572972,
          31.88841174986746,
          1.7494488397719392,
          -0.05192746092966204,
          2.3129367325616315
        ],
        "joint_status_l": {
          "velocity": [
            0.4921429628681473,
            -4.114073804291962,
            0.3445686314965668,
            4.195751289547189,
            -1.1074414635798835,
            1.1391927223738385,
            0.9132283806481123
          ],
          "torque": [
            -24.9755859375,
            0.146484375,
            -10.33935546875,
            -1.373291015625,
            -3.27392578125,
            -0.4669189453125,
            0.51177978515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.192561730077756,
            -9.259970563562092,
            -1.4679230644736307,
            11.594320283270676,
            3.0316210921348397,
            -2.0841169853911268,
            -3.8497429662813776
          ],
          "torque": [
            35.41259765625,
            0.24169921875,
            10.125732421875,
            2.142333984375,
            4.661865234375,
            0.0238037109375,
            -0.95489501953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -15.8,
            -9.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -15.8,
            -9.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.6,
            1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.6,
            1.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 91,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34869109463692477,
          -0.6568192499460478,
          -0.07593796465334342,
          -1.274224151317396,
          0.06594696748223029,
          -0.4027404701876172,
          0.21958749354488694
        ],
        "act_joint_pos_r": [
          -0.4411842526618716,
          -0.7414762153498633,
          0.15190199835467424,
          -0.9170628629991222,
          0.01298201989297576,
          0.6099977050444539,
          -0.25270083215760325
        ],
        "act_eef_pose_l": [
          539.7990875079823,
          263.7702907697836,
          52.338831447888026,
          1.7722161757400816,
          -0.04386897579909001,
          0.7794108309798466
        ],
        "act_eef_pose_r": [
          572.5486644042035,
          -320.5907481268787,
          15.481743346919757,
          1.7516144291472648,
          -0.04663566176878125,
          2.2619037380736127
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34528639224339086,
          -0.6267700075574361,
          -0.07830983241893509,
          -1.2957229602720348,
          0.06516611274921735,
          -0.4214954918922717,
          0.22174658492178037
        ],
        "joint_pos_r": [
          -0.4428267411321535,
          -0.6565153890354982,
          0.1647716925600947,
          -1.0261598318947418,
          -0.024771312479548696,
          0.6263407865381881,
          -0.21259738063767936
        ],
        "eef_pose_l": [
          532.4690916771415,
          270.07772686534173,
          57.9394363907642,
          1.7662614252539606,
          -0.04817218511085931,
          0.7694774146888526
        ],
        "eef_pose_r": [
          548.2886445274665,
          -326.66178484996294,
          28.957299363009184,
          1.7501367401649155,
          -0.05098949933432636,
          2.304415491681144
        ],
        "joint_status_l": {
          "velocity": [
            0.3676970138579705,
            -3.2452224652494976,
            0.2561541638207432,
            2.32180288918471,
            0.08432982399014799,
            2.0254826056866904,
            -0.2331749915758241
          ],
          "torque": [
            -23.9794921875,
            0.3955078125,
            -9.698486328125,
            -0.726318359375,
            -1.8603515625,
            -0.0531005859375,
            -0.10528564453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.17738352314333738,
            -9.175498625085154,
            -1.3898859816896536,
            11.782125145520794,
            4.07723964447726,
            -1.7650007454088623,
            -4.331045026806812
          ],
          "torque": [
            37.52197265625,
            4.453125,
            10.101318359375,
            -0.531005859375,
            4.0631103515625,
            -0.2783203125,
            -0.8935546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.3,
            -10.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.7,
            -16.3,
            -10.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.1,
            -1.7,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.1,
            -1.7,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.347317640077471,
          -0.6559606851973576,
          -0.07608655683022147,
          -1.2802039675972383,
          0.07877745161114173,
          -0.39439547573305883,
          0.20839498031061437
        ],
        "act_joint_pos_r": [
          -0.4411016691870077,
          -0.7509582822170422,
          0.1508866821511494,
          -0.9020275525118657,
          0.02160957005724251,
          0.608619652390291,
          -0.26025282339971895
        ],
        "act_eef_pose_l": [
          539.6446875079824,
          263.3302907697837,
          52.37083144788795,
          1.7762417774613135,
          -0.04613016482757349,
          0.7814552472289983
        ],
        "act_eef_pose_r": [
          575.6406644042034,
          -320.9347481268787,
          14.352143346919775,
          1.749906461781868,
          -0.04600968037405136,
          2.2540403366367547
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34580856110038033,
          -0.6320330752221232,
          -0.07789910091720642,
          -1.29226927594841,
          0.06604975110774233,
          -0.4176945205462235,
          0.22071444487469835
        ],
        "joint_pos_r": [
          -0.4425530977087398,
          -0.6708988801898687,
          0.16261139553260406,
          -1.007564646115905,
          -0.01818603229164735,
          0.6235935542300471,
          -0.21952178506582354
        ],
        "eef_pose_l": [
          533.7728666001955,
          268.9518737857935,
          56.947331836252346,
          1.7675547648328793,
          -0.04751897562068041,
          0.771350936201712
        ],
        "eef_pose_r": [
          552.5524969586832,
          -325.7901861565923,
          26.680078288542944,
          1.750078214060051,
          -0.050451415814065266,
          2.2970588183863456
        ],
        "joint_status_l": {
          "velocity": [
            0.1629757228136519,
            -2.5841056632032178,
            0.19574898808660812,
            1.3030148715582612,
            1.3745511141490252,
            2.516222627802822,
            -1.3304629330144202
          ],
          "torque": [
            -24.7705078125,
            1.72119140625,
            -9.86328125,
            -1.031494140625,
            -0.8349609375,
            0.3936767578125,
            -0.3076171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15674965726342194,
            -8.646160414063964,
            -1.266231699689424,
            11.397669952931011,
            4.297798296895028,
            -1.6171337038848321,
            -4.398822403728797
          ],
          "torque": [
            38.75244140625,
            3.18603515625,
            9.92431640625,
            -0.87890625,
            4.10888671875,
            0.1116943359375,
            -0.8056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.2,
            -8.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.2,
            -8.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.3,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.3,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -202,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 85,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3462893996143746,
          -0.6570004025419762,
          -0.07601724960200666,
          -1.2790957878827867,
          0.0823962941687238,
          -0.3971197839050635,
          0.2032685411013175
        ],
        "act_joint_pos_r": [
          -0.4428978832971544,
          -0.7652722003363136,
          0.14936287388945746,
          -0.8848257775408676,
          0.04374895892288011,
          0.6014721423577788,
          -0.2745864655770372
        ],
        "act_eef_pose_l": [
          539.6318875079824,
          262.75349076978364,
          52.60843144788788,
          1.7765143798864558,
          -0.04443170079927222,
          0.7790272130213111
        ],
        "act_eef_pose_r": [
          580.0894644042035,
          -320.2523481268787,
          12.665743346919726,
          1.744073277251716,
          -0.05064123639335212,
          2.2403129683369674
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3459870676354136,
          -0.6363529748415463,
          -0.07757267537380076,
          -1.2900408510329044,
          0.06861092295817686,
          -0.41380903309471484,
          0.21809597133765893
        ],
        "joint_pos_r": [
          -0.4424082340786185,
          -0.6870651342254394,
          0.16028512072202075,
          -0.9863739441548436,
          -0.009066899215246414,
          0.6202475835930344,
          -0.22825494224358542
        ],
        "eef_pose_l": [
          534.8199146443616,
          267.91714301265785,
          56.14839285845434,
          1.7691487206691197,
          -0.047098827437087196,
          0.7729187559248364
        ],
        "eef_pose_r": [
          557.3949906900637,
          -324.93057398936196,
          24.22421900047351,
          1.7493427044074619,
          -0.0501586707876413,
          2.2879424696349298
        ],
        "joint_status_l": {
          "velocity": [
            0.03265089074133698,
            -2.229856425546295,
            0.16798102901816048,
            1.1820319580433392,
            1.4887761816326783,
            1.8023857539559707,
            -1.6013152372564843
          ],
          "torque": [
            -26.4697265625,
            2.64404296875,
            -10.0341796875,
            -0.4638671875,
            -0.4412841796875,
            0.41015625,
            -0.66558837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0528805559731893,
            -8.446114035156604,
            -1.1795678684223265,
            10.966878543516856,
            5.703944450068624,
            -2.0276878499512208,
            -5.00365694503957
          ],
          "torque": [
            35.8740234375,
            3.1640625,
            9.954833984375,
            0.6591796875,
            3.9990234375,
            0.1776123046875,
            -1.0693359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.2,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.2,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -16.9,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.9,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 3,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3452946134908576,
          -0.6615315240388538,
          -0.07565167457608664,
          -1.2726843147298097,
          0.09022452172685676,
          -0.3974323424047498,
          0.19641106841047812
        ],
        "act_joint_pos_r": [
          -0.44266215785910795,
          -0.7745119113024092,
          0.14858113783330468,
          -0.8765583944366788,
          0.04980513123327457,
          0.5994323104611792,
          -0.28429915716649473
        ],
        "act_eef_pose_l": [
          541.0502875079824,
          262.4950907697837,
          51.84923144788792,
          1.779518512615916,
          -0.045226094132673166,
          0.7798674481311026
        ],
        "act_eef_pose_r": [
          582.2950644042035,
          -318.17394812687866,
          11.963343346919828,
          1.741900327656837,
          -0.04682548862352328,
          2.2390523502231967
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3459751533363182,
          -0.639750455411759,
          -0.07731532589803122,
          -1.2880068748976912,
          0.07115837119523091,
          -0.4112938497781231,
          0.21544675401752317
        ],
        "joint_pos_r": [
          -0.4424750321719985,
          -0.7004589287807987,
          0.1584441277663315,
          -0.969199483295525,
          -3.2295581573053714e-05,
          0.6170424544232784,
          -0.236436031026247
        ],
        "eef_pose_l": [
          535.6387880272719,
          267.12480508234177,
          55.55851555119639,
          1.770468888248603,
          -0.04671869272884023,
          0.7738837093550684
        ],
        "eef_pose_r": [
          561.3824548274151,
          -324.12081972514756,
          22.289260165532,
          1.7480862001713513,
          -0.05017204863423953,
          2.280068344542642
        ],
        "joint_status_l": {
          "velocity": [
            -0.07349613565699187,
            -2.352286034757789,
            0.179669043714914,
            1.6547876927770488,
            2.059083527993111,
            1.4969986447095351,
            -2.0557934131752997
          ],
          "torque": [
            -28.828125,
            0.64453125,
            -9.454345703125,
            0.08544921875,
            0.0054931640625,
            0.4339599609375,
            -0.7196044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.020208978175784154,
            -7.997486239085028,
            -1.0651714972127468,
            10.004942516749438,
            5.382283354041413,
            -1.9018394561500784,
            -5.169065169718712
          ],
          "torque": [
            36.61376953125,
            0.8935546875,
            9.77783203125,
            1.422119140625,
            4.3780517578125,
            0.025634765625,
            -0.99609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.1,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.1,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.0,
            0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.0,
            0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 47,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3482797337303011,
          -0.6672701011151291,
          -0.07516018310086629,
          -1.2618338826766127,
          0.08495390504010623,
          -0.39381665391336357,
          0.20795626306261103
        ],
        "act_joint_pos_r": [
          -0.4422095554833563,
          -0.7887448301779693,
          0.14686732218199108,
          -0.8496319755656212,
          0.05812298301780139,
          0.6094596580079912,
          -0.2932027199615106
        ],
        "act_eef_pose_l": [
          543.5294875079824,
          263.70789076978366,
          49.39323144788801,
          1.7818761322802052,
          -0.050834723512861786,
          0.7870545478360462
        ],
        "act_eef_pose_r": [
          585.8302644042035,
          -318.3443481268787,
          10.312143346919811,
          1.739311328942328,
          -0.04536482834340785,
          2.2354251745352864
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34622269604871575,
          -0.6445910703381403,
          -0.07693889551212833,
          -1.2837429528061013,
          0.07409836843804701,
          -0.40821785564231666,
          0.21330324886148974
        ],
        "joint_pos_r": [
          -0.4424510798382916,
          -0.7153457755225148,
          0.1564842902377704,
          -0.949426446423775,
          0.009827610422485662,
          0.6151924964738171,
          -0.24602067638012046
        ],
        "eef_pose_l": [
          536.9861809945703,
          266.41254606834025,
          54.54047038229879,
          1.7725009092125,
          -0.04711333444396101,
          0.7759188130886064
        ],
        "eef_pose_r": [
          565.6659803025113,
          -323.1837910304723,
          20.24287029568822,
          1.7464468320797661,
          -0.049595456923503096,
          2.272405060314282
        ],
        "joint_status_l": {
          "velocity": [
            0.22215351754351076,
            -2.4492630867616327,
            0.19209527486896416,
            2.3661097893086236,
            1.172363376012897,
            1.5552839160797305,
            -0.577457435082307
          ],
          "torque": [
            -24.2578125,
            1.95556640625,
            -9.33837890625,
            -1.15966796875,
            -0.589599609375,
            0.1190185546875,
            -0.57861328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.02608386103064575,
            -7.926864112429044,
            -1.0386019180979034,
            10.777484987752217,
            5.215746410076577,
            -0.6191282940966047,
            -5.095510422743477
          ],
          "torque": [
            38.115234375,
            4.29931640625,
            9.344482421875,
            -0.531005859375,
            3.834228515625,
            0.5126953125,
            -0.76171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.0,
            -8.1,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.0,
            -8.1,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.3,
            0.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.3,
            0.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -187,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 38,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3486621565248081,
          -0.6670523446191939,
          -0.07520424820264938,
          -1.2633968459804377,
          0.0852415869105648,
          -0.3894315701287002,
          0.20642734055898937
        ],
        "act_joint_pos_r": [
          -0.44345445920199733,
          -0.7897593510715684,
          0.1470051700351361,
          -0.8504724691275625,
          0.06333962927104198,
          0.6045155043204091,
          -0.295760755892759
        ],
        "act_eef_pose_l": [
          543.7270875079824,
          263.9126907697837,
          49.173231447887986,
          1.7825773952593122,
          -0.050020471257970205,
          0.790220661514692
        ],
        "act_eef_pose_r": [
          586.3150644042036,
          -318.26994812687866,
          9.892143346919738,
          1.738510612683727,
          -0.04741483011974757,
          2.231261603524747
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.346604017118026,
          -0.6482948249722392,
          -0.076651455917565,
          -1.2803175730457423,
          0.0759154308631085,
          -0.40535554000599894,
          0.21225170140086855
        ],
        "joint_pos_r": [
          -0.44253824222881116,
          -0.726588300897273,
          0.1550381928048253,
          -0.9343617359531379,
          0.017677485459343913,
          0.6138305085138792,
          -0.253437114328151
        ],
        "eef_pose_l": [
          538.0940095595115,
          265.9973493901699,
          53.66523025699408,
          1.774137277690504,
          -0.04760967927207039,
          0.7781089840564529
        ],
        "eef_pose_r": [
          568.8729110127724,
          -322.5018995195724,
          18.68722092478518,
          1.745128346659145,
          -0.049294063833647477,
          2.2664152721723685
        ],
        "joint_status_l": {
          "velocity": [
            0.22227250035511403,
            -2.025752375498513,
            0.15629382357096322,
            1.8273846272247596,
            1.007195147492257,
            1.7197380257867323,
            -0.6290124191934421
          ],
          "torque": [
            -23.25439453125,
            2.07275390625,
            -9.11865234375,
            -0.714111328125,
            -0.5841064453125,
            -0.0567626953125,
            -0.6060791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.09894851477332267,
            -6.822272206660429,
            -0.8675408723761713,
            9.059773613422806,
            4.931366088795117,
            -1.0059907827830727,
            -4.570818479892713
          ],
          "torque": [
            34.27001953125,
            2.42431640625,
            9.47265625,
            0.03662109375,
            3.90380859375,
            0.399169921875,
            -0.79559326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -15.9,
            -7.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.1,
            -15.9,
            -7.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 36,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3487079025949799,
          -0.6638229418002338,
          -0.07549334478726587,
          -1.2696568396278511,
          0.08239031757701051,
          -0.3786818564769533,
          0.21113817379587926
        ],
        "act_joint_pos_r": [
          -0.4458090406490349,
          -0.7928073115998417,
          0.14692539786860734,
          -0.8516732855942857,
          0.06230698371140475,
          0.5977740603763548,
          -0.2962273363475329
        ],
        "act_eef_pose_l": [
          543.8510875079824,
          265.05909076978367,
          49.681231447888024,
          1.782302611356258,
          -0.054022873222601936,
          0.7974496750236685
        ],
        "act_eef_pose_r": [
          586.6174644042035,
          -316.94754812687864,
          7.900143346919776,
          1.742107494265063,
          -0.047767569812832394,
          2.2291543081638254
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3469730755836058,
          -0.651246897208292,
          -0.07642819990173334,
          -1.2780322416054082,
          0.07724262837552158,
          -0.40132702022081884,
          0.2117534891613292
        ],
        "joint_pos_r": [
          -0.4429344360134711,
          -0.7380606396582836,
          0.15360995229091898,
          -0.9196488477759737,
          0.02564822406618425,
          0.6115129983721981,
          -0.2609666984905592
        ],
        "eef_pose_l": [
          539.1123107076718,
          265.759426559683,
          52.924208381571844,
          1.7756152731128385,
          -0.04846602123444018,
          0.7810696456826408
        ],
        "eef_pose_r": [
          572.0755773834745,
          -321.6742109194942,
          16.93822102862967,
          1.7441504063828472,
          -0.049104858033085945,
          2.2600165131520664
        ],
        "joint_status_l": {
          "velocity": [
            0.18735579146467174,
            -1.3581727587643755,
            0.10096137466586441,
            0.9045167362806694,
            0.5559340373627597,
            2.4456055550570177,
            -0.06645209956879228
          ],
          "torque": [
            -23.64990234375,
            1.99951171875,
            -9.1796875,
            -0.689697265625,
            -0.6427001953125,
            0.157470703125,
            -0.54290771484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3104481444622387,
            -5.912466190818755,
            -0.7219105859952446,
            7.341144200148086,
            3.9590292763568566,
            -1.4837615423441974,
            -3.808036576517848
          ],
          "torque": [
            29.619140625,
            2.70263671875,
            8.941650390625,
            -0.006103515625,
            3.944091796875,
            0.2105712890625,
            -0.83404541015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.9,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -15.9,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            1.7,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            1.7,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 22,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3491006775423969,
          -0.6640935363728221,
          -0.07545025338241979,
          -1.267122807122457,
          0.07642575410466977,
          -0.37691102328382203,
          0.21771281514531826
        ],
        "act_joint_pos_r": [
          -0.44533534784190554,
          -0.7983824192409437,
          0.14642017291479165,
          -0.8449384559786924,
          0.05792744196096189,
          0.5952747541065205,
          -0.29444544143608986
        ],
        "act_eef_pose_l": [
          544.6590875079823,
          266.0870907697837,
          49.622831447887904,
          1.7812721631837845,
          -0.05558174953285119,
          0.8015023662752321
        ],
        "act_eef_pose_r": [
          588.0190644042035,
          -316.3923481268787,
          6.573743346919855,
          1.7458190385622665,
          -0.04588526630427656,
          2.226671226138217
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34730259488758397,
          -0.6533448749440488,
          -0.07626965152500056,
          -1.2763694171982456,
          0.0774158262909847,
          -0.3974044350940894,
          0.21239423527704385
        ],
        "joint_pos_r": [
          -0.4433663240959019,
          -0.747539560110281,
          0.1524676510396469,
          -0.9078955557464612,
          0.03129861248388684,
          0.6090397259751044,
          -0.2666103433355283
        ],
        "eef_pose_l": [
          539.9900133195059,
          265.758839574598,
          52.38406913935634,
          1.7765985485752305,
          -0.04954276150493079,
          0.7842255789610216
        ],
        "eef_pose_r": [
          574.6548711421572,
          -320.89127037540476,
          15.342869866578923,
          1.744008492352622,
          -0.04880052795989491,
          2.254732534109959
        ],
        "joint_status_l": {
          "velocity": [
            0.19418719947417173,
            -1.1608211977156557,
            0.0884923894551859,
            0.9986044359227009,
            -0.1069246425483561,
            2.2132231999800744,
            0.5743896850554098
          ],
          "torque": [
            -24.111328125,
            1.50146484375,
            -9.075927734375,
            -0.98876953125,
            -2.4884033203125,
            0.1593017578125,
            0.26824951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.21264829284195486,
            -5.490866841650011,
            -0.6531083750827005,
            6.799166244230825,
            2.8758287654885306,
            -1.4865731176767483,
            -3.006101934623251
          ],
          "torque": [
            27.7294921875,
            1.98486328125,
            8.648681640625,
            -0.836181640625,
            3.826904296875,
            0.4852294921875,
            -1.0784912109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.3,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.3,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.3,
            0.2,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.3,
            0.2,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 1,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3490046931807096,
          -0.6627517916847305,
          -0.07559246802189303,
          -1.2716096116583075,
          0.06549995992809872,
          -0.37288633372954055,
          0.2262322955101393
        ],
        "act_joint_pos_r": [
          -0.4441283362235891,
          -0.8074487368558438,
          0.14537748367776498,
          -0.8283693184803926,
          0.05971509485067017,
          0.596942906333151,
          -0.29716757570142066
        ],
        "act_eef_pose_l": [
          544.4702875079823,
          265.79509076978366,
          50.75643144788802,
          1.7770487722753712,
          -0.054603798819789356,
          0.8036001783916265
        ],
        "act_eef_pose_r": [
          590.7214644042035,
          -316.91714812687866,
          5.452143346919684,
          1.746712658044719,
          -0.04381044366864747,
          2.221054171258524
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34760967987104174,
          -0.6550939223897184,
          -0.07614082294615925,
          -1.275240842492223,
          0.07600787574307287,
          -0.39332687026595353,
          0.21429596712852414
        ],
        "joint_pos_r": [
          -0.44361079881868554,
          -0.7573076735115559,
          0.15130885380584008,
          -0.8953411566294237,
          0.03616034750674285,
          0.6067492339129242,
          -0.27176561552729955
        ],
        "eef_pose_l": [
          540.8014802791465,
          265.78122273037627,
          52.02893886991848,
          1.7769211287125222,
          -0.05050161415906846,
          0.7875212057795477
        ],
        "eef_pose_r": [
          577.3179478215332,
          -320.1832505124046,
          13.693318256636843,
          1.7443057437138767,
          -0.04818843718387627,
          2.2492792040764926
        ],
        "joint_status_l": {
          "velocity": [
            0.15065699405347743,
            -0.8270254920486053,
            0.059220585203023646,
            0.3921613638819821,
            -1.134821438248057,
            2.2075128388219234,
            1.2890854456715228
          ],
          "torque": [
            -23.76708984375,
            2.4755859375,
            -8.77685546875,
            -1.092529296875,
            -2.9498291015625,
            -0.091552734375,
            0.53924560546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05589239127168355,
            -5.415075132079394,
            -0.6405690812569809,
            7.232745201679158,
            2.543837686662054,
            -1.059052143542516,
            -2.7433307885884606
          ],
          "torque": [
            28.13232421875,
            2.3583984375,
            8.43505859375,
            -0.1708984375,
            3.72802734375,
            0.47607421875,
            -0.64361572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.5,
            -8.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -16.5,
            -8.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.3,
            0.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.3,
            0.0,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -108,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34719854842901293,
          -0.6660158031620553,
          -0.07526193234499404,
          -1.2613136575352197,
          0.06967252953123812,
          -0.3772049540178714,
          0.22263865841810954
        ],
        "act_joint_pos_r": [
          -0.443170001234821,
          -0.8156701232269786,
          0.144433168840647,
          -0.8122347553392351,
          0.06244712186692247,
          0.6020838712719281,
          -0.29803996742800226
        ],
        "act_eef_pose_l": [
          546.3070875079824,
          267.0678907697837,
          50.59803144788776,
          1.778449266716245,
          -0.056136391886430166,
          0.8057680410455843
        ],
        "act_eef_pose_r": [
          592.8942644042035,
          -317.2587481268787,
          4.637743346919706,
          1.7461608128730173,
          -0.04480273521181301,
          2.217706875577778
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34763520308015095,
          -0.6567211606583689,
          -0.07601337737497635,
          -1.273482060546064,
          0.07475126792319266,
          -0.3904538666937408,
          0.21585272769175745
        ],
        "joint_pos_r": [
          -0.4436004913521991,
          -0.7677139181169313,
          0.15008104576967135,
          -0.8808603263084765,
          0.04092135778458074,
          0.6054755953891724,
          -0.2766659710265402
        ],
        "eef_pose_l": [
          541.6175871169614,
          265.92530106349113,
          51.80441339338151,
          1.7770841154057264,
          -0.0513496662940334,
          0.7904117361179346
        ],
        "eef_pose_r": [
          580.1688900429265,
          -319.64846837817765,
          12.03076394332308,
          1.7446248996448783,
          -0.04756821450783242,
          2.243555405174919
        ],
        "joint_status_l": {
          "velocity": [
            -0.04715731149262936,
            -1.0037917851422051,
            0.08115366973848737,
            1.3141487664256601,
            -0.5484875695550562,
            1.4308403686129623,
            0.7328589039281574
          ],
          "torque": [
            -27.39990234375,
            1.41357421875,
            -8.721923828125,
            -1.593017578125,
            -3.2867431640625,
            0.1922607421875,
            0.56488037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.04649156148150979,
            -5.179117401982403,
            -0.6099527187408693,
            7.411343078798538,
            2.324713957119695,
            -0.3662954013572417,
            -2.308323530994416
          ],
          "torque": [
            30.2783203125,
            1.66259765625,
            8.55712890625,
            -0.6103515625,
            3.69140625,
            0.8221435546875,
            -0.849609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.1,
            -15.8,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -15.8,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.1,
            -0.3,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.1,
            -0.3,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -51,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.346008640365117,
          -0.6691259846002606,
          -0.074975814647148,
          -1.2536775932830375,
          0.07681832915023724,
          -0.38001642441944355,
          0.21703494836574386
        ],
        "act_joint_pos_r": [
          -0.4434474924561371,
          -0.8165813105765584,
          0.1444321751845386,
          -0.811797208784624,
          0.0658557808459701,
          0.600208696882069,
          -0.30070442206376213
        ],
        "act_eef_pose_l": [
          547.6302875079824,
          267.68549076978366,
          50.066831447887864,
          1.7810524407002162,
          -0.0578022864732793,
          0.8066042510546669
        ],
        "act_eef_pose_r": [
          593.2910644042034,
          -317.2211481268787,
          4.636143346919653,
          1.7450891244697544,
          -0.04492599581218062,
          2.2157635325419713
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3474450646450143,
          -0.6585585113662441,
          -0.07586138456170387,
          -1.270722109161105,
          0.07462710542558096,
          -0.38855545071228065,
          0.21641092889884483
        ],
        "joint_pos_r": [
          -0.44356803858721777,
          -0.7731783805982358,
          0.1494436656501182,
          -0.8730909973923479,
          0.04354846221884311,
          0.6049838976828162,
          -0.2792327040126502
        ],
        "eef_pose_l": [
          542.5252341462163,
          266.1737991095761,
          51.55182459707814,
          1.7775677420901363,
          -0.05229806088600198,
          0.7930216235526798
        ],
        "eef_pose_r": [
          581.6643265908008,
          -319.39819268964663,
          11.189074654086795,
          1.7447014574145192,
          -0.04731223899586899,
          2.2405223174422986
        ],
        "joint_status_l": {
          "velocity": [
            -0.1551292469361698,
            -1.1412534498020932,
            0.09563873005857815,
            1.8407534247106838,
            0.2366451827863214,
            0.9221876411560359,
            0.06739211480089047
          ],
          "torque": [
            -32.54150390625,
            0.1318359375,
            -8.465576171875,
            -0.74462890625,
            -1.3494873046875,
            0.2362060546875,
            0.45501708984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.013018598194136644,
            -4.6873781908285395,
            -0.5412250077043712,
            6.619533936916611,
            2.409119358552314,
            -0.5157064765315411,
            -2.318877157893917
          ],
          "torque": [
            30.72509765625,
            1.3037109375,
            9.06982421875,
            0.872802734375,
            3.9862060546875,
            0.47607421875,
            -0.80474853515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.4,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.4,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -15,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3441759289846147,
          -0.6710650254563051,
          -0.07483204901258649,
          -1.2516498582979365,
          0.0910128624981143,
          -0.37834145389020546,
          0.20148140145822674
        ],
        "act_joint_pos_r": [
          -0.44313586710977315,
          -0.8207263311781163,
          0.14390764701939066,
          -0.8013974899933652,
          0.06472720068802706,
          0.606992346509111,
          -0.2981050731167512
        ],
        "act_eef_pose_l": [
          548.3590875079824,
          267.60789076978364,
          49.74683144788793,
          1.785302948510751,
          -0.05672627695806354,
          0.8077957268274161
        ],
        "act_eef_pose_r": [
          594.0430644042035,
          -317.5563481268787,
          3.94014334691974,
          1.7455651380552402,
          -0.04677005979752669,
          2.216125139901011
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3470088017471641,
          -0.6606197965666234,
          -0.07569050867783757,
          -1.267506806389321,
          0.07642639434002337,
          -0.38687907779283753,
          0.21497422408903605
        ],
        "joint_pos_r": [
          -0.4435286165358641,
          -0.7810932497631045,
          0.14852711178525566,
          -0.8616494148451533,
          0.04742700213882293,
          0.6045337984590873,
          -0.28287803666745703
        ],
        "eef_pose_l": [
          543.5041137999182,
          266.4323905674849,
          51.251864951231596,
          1.778623232337894,
          -0.05315479000469374,
          0.7955371679004255
        ],
        "eef_pose_r": [
          583.8095437902599,
          -319.05935245776556,
          9.97975396639589,
          1.744758635136589,
          -0.047060396064429334,
          2.2361629711280964
        ],
        "joint_status_l": {
          "velocity": [
            -0.3059412351014146,
            -1.1280514499860672,
            0.09271090948503868,
            1.7124998863842222,
            1.5752921003168163,
            0.9220361874806571,
            -1.457181866845625
          ],
          "torque": [
            -35.5224609375,
            0.3076171875,
            -8.807373046875,
            -0.701904296875,
            -0.8111572265625,
            0.322265625,
            -0.3662109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.04241568703422516,
            -4.280246553697076,
            -0.4988874808138366,
            6.507015969816621,
            1.8683663387943916,
            0.26551535844543395,
            -1.6444714354313383
          ],
          "torque": [
            30.68115234375,
            1.61865234375,
            8.892822265625,
            0.872802734375,
            3.651123046875,
            1.871337890625,
            -0.61431884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.9,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.9,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.8,
            0.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.8,
            0.5,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -5,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33893340497881713,
          -0.6703569915044864,
          -0.07496739973068274,
          -1.2592204102402322,
          0.13641607842038692,
          -0.36761195412250075,
          0.15940418649685223
        ],
        "act_joint_pos_r": [
          -0.44280913324298693,
          -0.8251028814087201,
          0.1433443896197957,
          -0.7895076919986438,
          0.059049335245751955,
          0.6154369286443699,
          -0.2918771426459151
        ],
        "act_eef_pose_l": [
          548.3326875079823,
          267.0462907697837,
          49.754831447887966,
          1.7975830409662867,
          -0.06110641522584303,
          0.8089218507407859
        ],
        "act_eef_pose_r": [
          594.6078644042035,
          -317.96994812687865,
          2.726543346919698,
          1.7483658250243437,
          -0.04870190876069436,
          2.2176280855634993
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34634715631456153,
          -0.6618949785411866,
          -0.07559018931831019,
          -1.265948409717499,
          0.08090297722298266,
          -0.385179662845452,
          0.2108287374943307
        ],
        "joint_pos_r": [
          -0.443430814248449,
          -0.7889009286322441,
          0.1476132498156951,
          -0.8494022917380657,
          0.050287997113397244,
          0.6056074243388457,
          -0.28530746648387084
        ],
        "eef_pose_l": [
          544.110295850875,
          266.54083227035443,
          51.0474423205614,
          1.7802414445401407,
          -0.053829592273071575,
          0.7971053773667112
        ],
        "eef_pose_r": [
          585.8274897377433,
          -318.83067929904047,
          8.73581261603772,
          1.7450964528886073,
          -0.04720622701217239,
          2.232478172410412
        ],
        "joint_status_l": {
          "velocity": [
            -0.8006615300111264,
            -0.9138704468680814,
            0.06725929175710466,
            0.7266025135486132,
            5.995238109223422,
            1.897256585486673,
            -5.553687710464272
          ],
          "torque": [
            -37.58056640625,
            0.3955078125,
            -10.369873046875,
            -1.959228515625,
            1.6021728515625,
            0.7672119140625,
            -0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.06713956841464253,
            -3.909695589551454,
            -0.461023304001662,
            6.468425995830529,
            0.9461966117169651,
            1.0615551561006242,
            -0.7095040997957547
          ],
          "torque": [
            35.2001953125,
            2.9443359375,
            8.905029296875,
            0.10986328125,
            3.7701416015625,
            2.4188232421875,
            -0.58868408203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -15.5,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -15.5,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -26,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3323578516334619,
          -0.6698676590252539,
          -0.07506711744983158,
          -1.2650384067097349,
          0.19169111553744544,
          -0.3590443051433913,
          0.11092288988777432
        ],
        "act_joint_pos_r": [
          -0.4428648412645928,
          -0.8234699118165716,
          0.14355751640110523,
          -0.791918487347831,
          0.056323163051906544,
          0.610484401646286,
          -0.2901788848748472
        ],
        "act_eef_pose_l": [
          548.5606875079824,
          266.89829076978367,
          49.85803144788798,
          1.8118218717647236,
          -0.06925759862550142,
          0.8091631346074798
        ],
        "act_eef_pose_r": [
          594.6406644042036,
          -318.80274812687867,
          2.407343346919788,
          1.7510620857752992,
          -0.04741024340767169,
          2.2142262103281127
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3447476310199347,
          -0.6633696485330302,
          -0.07548445317280632,
          -1.2650142926546764,
          0.09314511210816238,
          -0.38169736590769693,
          0.19960778429564435
        ],
        "joint_pos_r": [
          -0.44332413300139106,
          -0.7952068467201172,
          0.14687086419630424,
          -0.8389525137711009,
          0.05167865807095885,
          0.607057573056366,
          -0.28637035506615166
        ],
        "eef_pose_l": [
          544.8456860905562,
          266.5969488299748,
          50.7795558015527,
          1.7841241317242476,
          -0.055379633049472694,
          0.799052600966742
        ],
        "eef_pose_r": [
          587.4142868843462,
          -318.74571288639294,
          7.642644308630054,
          1.7458231207371921,
          -0.0474393488619844,
          2.229647743819892
        ],
        "joint_status_l": {
          "velocity": [
            -1.3380567098661977,
            -0.701764435723895,
            0.04507092878536234,
            -0.0026042411374049834,
            10.642654482047153,
            2.4464584081114182,
            -9.577686117297812
          ],
          "torque": [
            -39.0234375,
            -1.4501953125,
            -10.07080078125,
            -1.0498046875,
            -0.3076171875,
            0.164794921875,
            -0.75164794921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.04960204464010687,
            -3.0523210070212414,
            -0.35783100822017744,
            5.07952504113085,
            0.5015917442846018,
            0.37008657259107736,
            -0.41130908842568203
          ],
          "torque": [
            33.134765625,
            3.74267578125,
            8.88671875,
            -0.5859375,
            3.702392578125,
            2.5433349609375,
            -0.65093994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.2,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.2,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.2,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.2,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -28,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32593937864564265,
          -0.6733975568286368,
          -0.07472074345346276,
          -1.2542629524177618,
          0.21521967461706856,
          -0.3669664738542896,
          0.08724994680195636
        ],
        "act_joint_pos_r": [
          -0.44298651357832647,
          -0.8223325097343211,
          0.1436995123574652,
          -0.7933419116852374,
          0.055182566331389626,
          0.6059834585221348,
          -0.2891318724215894
        ],
        "act_eef_pose_l": [
          550.5126875079824,
          267.9022907697837,
          50.79243144788808,
          1.8171588203747915,
          -0.07082329042882927,
          0.8082536552975286
        ],
        "act_eef_pose_r": [
          594.8126644042035,
          -319.6667481268787,
          2.1273433469198153,
          1.753013745191053,
          -0.0467691477658748,
          2.210408992322698
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.342275199033776,
          -0.6646735380546831,
          -0.07539545652278447,
          -1.2645454401362222,
          0.11160193853408011,
          -0.37803995166951676,
          0.18288814540227227
        ],
        "joint_pos_r": [
          -0.44325169914763535,
          -0.8001219855574111,
          0.14629527460758682,
          -0.8307391338687528,
          0.05241760657994509,
          0.6073389392910264,
          -0.28696824372595797
        ],
        "eef_pose_l": [
          545.5481764749138,
          266.64215273425907,
          50.59422064182607,
          1.7895254783306298,
          -0.057754917701178646,
          0.8005133825837804
        ],
        "eef_pose_r": [
          588.726713706419,
          -318.8284647617755,
          6.690017691230082,
          1.7468817794602363,
          -0.04741689963108931,
          2.2266391807723354
        ],
        "joint_status_l": {
          "velocity": [
            -1.76421656913206,
            -0.9421662398780839,
            0.07286686239349471,
            1.1104759218572013,
            11.190385454185826,
            1.1959003328501083,
            -10.328620822446677
          ],
          "torque": [
            -40.2099609375,
            0.38818359375,
            -11.199951171875,
            -2.301025390625,
            -0.0128173828125,
            0.377197265625,
            -0.7196044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.02863919681761473,
            -2.398665866238048,
            -0.2803340550021627,
            4.038780878344639,
            0.2986068462178526,
            -0.14638760556895392,
            -0.23366500754695707
          ],
          "torque": [
            34.51171875,
            3.08349609375,
            8.31298828125,
            -0.81787109375,
            3.7481689453125,
            1.622314453125,
            -0.71044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.9,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -15.9,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.2,
            0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.2,
            0.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -68,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3249795566852537,
          -0.6740371077175874,
          -0.07465824131331623,
          -1.2522527808446418,
          0.21382236064909796,
          -0.36844078603189845,
          0.09065021112492753
        ],
        "act_joint_pos_r": [
          -0.4428804305000357,
          -0.8234032390526091,
          0.14352774733359058,
          -0.7889210394450225,
          0.055019074259672784,
          0.6066905552101786,
          -0.2885049515145092
        ],
        "act_eef_pose_l": [
          550.9150875079823,
          268.0406907697836,
          51.242831447887795,
          1.8163219019693848,
          -0.07333578072338064,
          0.8077006397647103
        ],
        "act_eef_pose_r": [
          595.3062644042035,
          -320.60034812687866,
          1.7497433469197858,
          1.7539372605495074,
          -0.04674919291457199,
          2.2078470714283394
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3393176838125245,
          -0.6662621306539868,
          -0.07527165506623362,
          -1.2625824729775892,
          0.12982167660595723,
          -0.3761883681831225,
          0.16622367286401935
        ],
        "joint_pos_r": [
          -0.443193920466768,
          -0.8043977996283215,
          0.1457921947353236,
          -0.8233509196035368,
          0.05292849843083999,
          0.6071336860733448,
          -0.28733204768115805
        ],
        "eef_pose_l": [
          546.4216389382777,
          266.8243137789233,
          50.62258550779316,
          1.794485232876493,
          -0.060153540049452746,
          0.8015721317479602
        ],
        "eef_pose_r": [
          590.0119147908991,
          -319.0837142907857,
          5.73487206535674,
          1.7481874918593403,
          -0.04730973486404321,
          2.223149721991428
        ],
        "joint_status_l": {
          "velocity": [
            -1.548472060003192,
            -0.8396727580448626,
            0.06624673147215265,
            1.115573848267104,
            9.071806318033836,
            0.8367141947660528,
            -8.161693151549798
          ],
          "torque": [
            -38.759765625,
            1.31103515625,
            -8.966064453125,
            -0.98876953125,
            -0.032958984375,
            0.552978515625,
            -0.59234619140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.03385591788029885,
            -2.0525269217763764,
            -0.24455310667903518,
            3.718317391210313,
            0.22577553062058664,
            -0.047856721763217536,
            -0.12666987807330443
          ],
          "torque": [
            36.181640625,
            3.58154296875,
            7.989501953125,
            -1.13525390625,
            3.790283203125,
            2.2503662109375,
            -0.6903076171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -16.9,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -16.9,
            -0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -133,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3177297420525486,
          -0.6747831504824269,
          -0.0745824721909684,
          -1.2495991879058554,
          0.24927575581528852,
          -0.3701645052014378,
          0.05936314309621516
        ],
        "act_joint_pos_r": [
          -0.4437628070542718,
          -0.8207500871032934,
          0.14389724590300715,
          -0.7956780814066943,
          0.05019150186119825,
          0.5974200682457842,
          -0.2862546869107659
        ],
        "act_eef_pose_l": [
          551.9862875079824,
          268.7758907697837,
          52.485231447887884,
          1.824404627528956,
          -0.07963551438976435,
          0.8068631831469211
        ],
        "act_eef_pose_r": [
          594.9878644042035,
          -321.04194812687865,
          0.8985433469197233,
          1.7586524221535544,
          -0.044616499605348296,
          2.2040328322707374
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3361161981308761,
          -0.6678583112318376,
          -0.07514498053651529,
          -1.260388825350739,
          0.14826952421641135,
          -0.37470613571436223,
          0.14965333583244989
        ],
        "joint_pos_r": [
          -0.4431982801315729,
          -0.8077992354886959,
          0.14539077170574757,
          -0.817329590166301,
          0.052975618367943796,
          0.6063814995893719,
          -0.28739152198322643
        ],
        "eef_pose_l": [
          547.3438410492874,
          267.05532391320236,
          50.77149244873348,
          1.7993223751050365,
          -0.06300946722506147,
          0.8025321319561264
        ],
        "eef_pose_r": [
          590.9375838836345,
          -319.38606678605254,
          4.965564342765646,
          1.7495422570669383,
          -0.04707587625550683,
          2.2201647596005167
        ],
        "joint_status_l": {
          "velocity": [
            -1.9856786919967284,
            -0.7478605820940842,
            0.060749109619839814,
            1.1652464769404958,
            10.908351288054785,
            0.49048162941334184,
            -9.751053223571615
          ],
          "torque": [
            -40.40771484375,
            -0.6591796875,
            -12.860107421875,
            -0.921630859375,
            -0.1318359375,
            0.6005859375,
            -0.72601318359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.060967109522636065,
            -1.398650723378303,
            -0.1612960295238608,
            2.3382939817429005,
            -0.3006757147723804,
            -0.9678060411939526,
            0.12277456678333465
          ],
          "torque": [
            33.8525390625,
            1.640625,
            8.10546875,
            -0.927734375,
            2.0159912109375,
            1.365966796875,
            -0.069580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.0,
            -7.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.0,
            -7.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -16.9,
            0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -16.9,
            0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -104,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3153006004752079,
          -0.6777383176517742,
          -0.07434090162167312,
          -1.244405086866765,
          0.25785988197701487,
          -0.3698541209535119,
          0.05237345105689356
        ],
        "act_joint_pos_r": [
          -0.4431556278512425,
          -0.8230913837475664,
          0.1435447916156838,
          -0.7880364304670069,
          0.048533606402085816,
          0.5974651537357467,
          -0.28415123434155626
        ],
        "act_eef_pose_l": [
          553.4646875079824,
          269.15989076978366,
          52.71243144788792,
          1.826460861109929,
          -0.08242725927791955,
          0.8089878279584743
        ],
        "act_eef_pose_r": [
          596.0334644042035,
          -322.51474812687866,
          0.23774334691961485,
          1.760944117447397,
          -0.04419804838494401,
          2.199207378433244
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3329523936048806,
          -0.6691684466388914,
          -0.07503846917396975,
          -1.2583132311784315,
          0.16537329935770642,
          -0.37394147647678383,
          0.13440387972836215
        ],
        "joint_pos_r": [
          -0.4432612179698758,
          -0.8104162382311949,
          0.14508302738009635,
          -0.8126856757986005,
          0.05232977995423922,
          0.6046907075266211,
          -0.2870249553935399
        ],
        "eef_pose_l": [
          548.164701680364,
          267.31097117538354,
          51.041446608563945,
          1.8036224694955958,
          -0.06584334419324582,
          0.8031203894474959
        ],
        "eef_pose_r": [
          591.7895052935763,
          -319.8048599541573,
          4.146175798650688,
          1.7514319344894056,
          -0.0466008211032862,
          2.2167632559962542
        ],
        "joint_status_l": {
          "velocity": [
            -1.9063374335877015,
            -0.9255187726742165,
            0.07533507375889759,
            1.5020352854975272,
            9.988256335011547,
            0.44142137748570676,
            -8.85902501354252
          ],
          "torque": [
            -40.6494140625,
            -1.875,
            -8.41064453125,
            0.457763671875,
            0.186767578125,
            0.791015625,
            -0.75439453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.011403396487530415,
            -1.3688753429477174,
            -0.16612456297449008,
            2.6620399831402963,
            -0.40997465207659456,
            -0.7803367946115358,
            0.31035272025015104
          ],
          "torque": [
            37.71240234375,
            3.076171875,
            7.71484375,
            -0.140380859375,
            1.461181640625,
            0.6536865234375,
            0.24169921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.2,
            -7.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.2,
            -7.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.4,
            0.0,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.4,
            0.0,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -87,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31170007699516006,
          -0.6843127240128398,
          -0.07382696088525081,
          -1.234316314092128,
          0.24360049539510756,
          -0.37414167343602234,
          0.06098830804896631
        ],
        "act_joint_pos_r": [
          -0.44177083853383264,
          -0.8291217624456999,
          0.14286696767799434,
          -0.7773889264382324,
          0.04311650844503933,
          0.6018152116428336,
          -0.2837483649280604
        ],
        "act_eef_pose_l": [
          555.8710875079823,
          268.25909076978365,
          54.69963144788795,
          1.819851217049751,
          -0.07939348810894445,
          0.8097951208868392
        ],
        "act_eef_pose_r": [
          597.2486644042035,
          -322.0579481268786,
          -0.5894566530803331,
          1.7634305777991033,
          -0.040102779066488486,
          2.2005828255767605
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.32952217413104873,
          -0.6712483204152155,
          -0.07487099312491621,
          -1.2549876714275732,
          0.18050102503979887,
          -0.3735870377837708,
          0.12064010469930743
        ],
        "joint_pos_r": [
          -0.4432287315666892,
          -0.8119361198919116,
          0.144899379306382,
          -0.8097460146084724,
          0.05182093696343149,
          0.6039399765976405,
          -0.28669469189269964
        ],
        "eef_pose_l": [
          549.2915316698077,
          267.5257814026661,
          51.485047804242896,
          1.8071222844418122,
          -0.06847936806359625,
          0.8040415588490676
        ],
        "eef_pose_r": [
          592.2934599320874,
          -320.1035830716118,
          3.6905812288194397,
          1.75254404029155,
          -0.0462801949113805,
          2.2148002823809945
        ],
        "joint_status_l": {
          "velocity": [
            -1.9247297238074168,
            -1.4109139758602396,
            0.1127521564368017,
            2.232440749908804,
            6.814541814205821,
            -0.059898883820075355,
            -6.442204035585264
          ],
          "torque": [
            -39.63134765625,
            -0.62255859375,
            -8.587646484375,
            0.4638671875,
            -0.252685546875,
            -0.380859375,
            -0.55206298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1574478038737226,
            -1.8559946561724772,
            -0.2194939822370845,
            3.4944624587254225,
            -0.9400505546772742,
            -0.2294678473271361,
            0.31819392755316755
          ],
          "torque": [
            38.5546875,
            1.67724609375,
            7.977294921875,
            -0.018310546875,
            1.4556884765625,
            0.662841796875,
            0.28472900390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.2,
            -9.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.2,
            -9.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.1,
            -0.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.1,
            -0.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -76,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3098344767841553,
          -0.6909385752218365,
          -0.07327868650941716,
          -1.2203568398524878,
          0.2529128218412249,
          -0.3863314853934451,
          0.057678083175783226
        ],
        "act_joint_pos_r": [
          -0.44059807911373433,
          -0.8354485521546493,
          0.14217992307635627,
          -0.7667196026797454,
          0.04352166614545938,
          0.6071072501531127,
          -0.28520483361457855
        ],
        "act_eef_pose_l": [
          557.3654875079824,
          267.90789076978365,
          53.71803144788788,
          1.824345471016337,
          -0.08333749682154123,
          0.8034665553437496
        ],
        "act_eef_pose_r": [
          598.5574644042035,
          -321.36034812687865,
          -0.8734566530802113,
          1.7626478545695283,
          -0.039115592960702654,
          2.2016317177293168
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.32623656449002814,
          -0.6740359522612605,
          -0.07464686790660212,
          -1.2503262991654855,
          0.19232897689466744,
          -0.3745640087864159,
          0.10985449255834598
        ],
        "joint_pos_r": [
          -0.44290281502396983,
          -0.8153423343660267,
          0.14450010782978595,
          -0.803405017282291,
          0.05030546445033409,
          0.6038718195120101,
          -0.28625839159818833
        ],
        "eef_pose_l": [
          550.5584988338269,
          267.60918353265754,
          51.97454129082294,
          1.8096437235764873,
          -0.07069728247532527,
          0.8044868869346024
        ],
        "eef_pose_r": [
          593.2595632732582,
          -320.4118794477034,
          2.9117094688494944,
          1.754421069519173,
          -0.04514359425818626,
          2.212338855098795
        ],
        "joint_status_l": {
          "velocity": [
            -1.7713732283737293,
            -1.8254294415784855,
            0.1477592329703903,
            3.236606147208221,
            6.542862282820083,
            -1.2708499918421268,
            -5.634886021237184
          ],
          "torque": [
            -38.9208984375,
            -0.05126953125,
            -8.23974609375,
            -0.238037109375,
            -0.2490234375,
            -0.794677734375,
            -0.640869140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.24890413727085559,
            -2.1714074789311866,
            -0.2505725631276601,
            3.9619079268469193,
            -0.7326286092007028,
            0.34941620375850135,
            0.11378090644154071
          ],
          "torque": [
            41.52099609375,
            1.3623046875,
            7.965087890625,
            0.59814453125,
            1.219482421875,
            1.812744140625,
            0.3717041015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.0,
            -7.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -7.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.7,
            1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.7,
            1.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -211,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -36,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.314694903386895,
          -0.6946449928616516,
          -0.07304934752587426,
          -1.2187588598282921,
          0.23389983830045816,
          -0.38703674936173665,
          0.07528439378840412
        ],
        "act_joint_pos_r": [
          -0.4407958852194613,
          -0.8406364152110475,
          0.1415642559913929,
          -0.7552802875529909,
          0.04721421978925466,
          0.6134227852911569,
          -0.2925286213956795
        ],
        "act_eef_pose_l": [
          557.1406875079824,
          265.97589076978363,
          52.168431447887826,
          1.820438985192893,
          -0.07930216687293157,
          0.8009503144851992
        ],
        "act_eef_pose_r": [
          599.5622644042035,
          -321.5771481268787,
          -1.5414566530803313,
          1.7612689268796495,
          -0.035346333744819186,
          2.201888832777108
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.32408860202571366,
          -0.677232907278344,
          -0.07439606600727172,
          -1.245219139244995,
          0.20014319971755828,
          -0.37657811103817934,
          0.10326367998785627
        ],
        "joint_pos_r": [
          -0.44254360201331205,
          -0.8191637146525134,
          0.14405744282545788,
          -0.7962362924116576,
          0.0495575202435992,
          0.6050318852037821,
          -0.28681365361617966
        ],
        "eef_pose_l": [
          551.6550789178538,
          267.43235430315053,
          52.08780868654239,
          1.8115410055352836,
          -0.07233690805978937,
          0.8039851127351639
        ],
        "eef_pose_r": [
          594.2472015108317,
          -320.59643667842664,
          2.216352457687236,
          1.755628948676865,
          -0.04378876768986113,
          2.210592938141371
        ],
        "joint_status_l": {
          "velocity": [
            -1.0144895322232728,
            -1.8804497820958943,
            0.14544130642890618,
            2.8576258958334932,
            3.6456094454500043,
            -1.129499626133068,
            -3.021673790036261
          ],
          "torque": [
            -40.40771484375,
            1.07666015625,
            -8.404541015625,
            0.01220703125,
            -0.22705078125,
            -1.168212890625,
            -0.64544677734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.18874784691602642,
            -2.3189832655656772,
            -0.26925623679074917,
            4.423118071842147,
            -0.2530689851984458,
            0.9061904827767364,
            -0.6171983168945516
          ],
          "torque": [
            42.12158203125,
            2.84912109375,
            7.891845703125,
            -0.29296875,
            1.102294921875,
            2.3272705078125,
            -0.443115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.7,
            -7.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.7,
            -7.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -16.8,
            -0.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.8,
            -0.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -152,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31619175931302396,
          -0.6965390800497083,
          -0.07294591121707059,
          -1.2187546067571768,
          0.2278691116122616,
          -0.38565067737068925,
          0.07748626036634176
        ],
        "act_joint_pos_r": [
          -0.4417080304271388,
          -0.8454303821285309,
          0.14107415078205535,
          -0.7473522431811569,
          0.050548943796795864,
          0.6164479972977388,
          -0.29620402992443096
        ],
        "act_eef_pose_l": [
          557.2230875079824,
          265.0030907697836,
          51.71803144788788,
          1.8188698323863186,
          -0.07493375549565742,
          0.8014212232015033
        ],
        "act_eef_pose_r": [
          600.3478644042035,
          -321.19074812687865,
          -2.5358566530801454,
          1.7607064739554972,
          -0.03529960822481815,
          2.201363287832186
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3226932068570171,
          -0.6802837687100813,
          -0.07416438345616608,
          -1.2408687696786986,
          0.20509278621710456,
          -0.37815959647107533,
          0.09888302492897609
        ],
        "joint_pos_r": [
          -0.4423536654909768,
          -0.8224271002373073,
          0.14368239789266335,
          -0.7900825127608,
          0.04942557024660152,
          0.606374055305386,
          -0.28782163896927865
        ],
        "eef_pose_l": [
          552.568890245612,
          267.0961680026348,
          52.05599220022202,
          1.8128071700759518,
          -0.07305495548652456,
          0.803513550316233
        ],
        "eef_pose_r": [
          595.0462264420702,
          -320.71702201265276,
          1.630585876297033,
          1.7563748797756529,
          -0.04262386673336966,
          2.209343349009224
        ],
        "joint_status_l": {
          "velocity": [
            -0.7021356263683387,
            -1.755521848330055,
            0.1315911207496745,
            2.3882591575858925,
            2.4597705956210802,
            -0.8090128765987359,
            -2.310782419880142
          ],
          "torque": [
            -40.77392578125,
            1.58935546875,
            -8.02001953125,
            -0.482177734375,
            -0.303955078125,
            -1.2432861328125,
            -0.5621337890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.06972653042058852,
            -2.484281174295333,
            -0.2816823801679025,
            4.614733010327221,
            0.1213207652562831,
            1.0879536476959828,
            -0.905271523599982
          ],
          "torque": [
            42.35595703125,
            1.20849609375,
            7.6171875,
            1.35498046875,
            2.464599609375,
            2.7264404296875,
            -0.7159423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.4,
            -7.7,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -15.4,
            -7.7,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.1,
            0.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.1,
            0.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -101,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3166360463323229,
          -0.700572228221187,
          -0.07267554976631421,
          -1.2147391408005566,
          0.22896586649269884,
          -0.38851684313111806,
          0.07784432524541063
        ],
        "act_joint_pos_r": [
          -0.4440094304285526,
          -0.8539268437808385,
          0.14031801644754874,
          -0.7375798335252611,
          0.0550062971980414,
          0.6258333417946002,
          -0.29929976298407723
        ],
        "act_eef_pose_l": [
          557.6558875079824,
          263.72869076978367,
          50.94523144788792,
          1.8198610674066298,
          -0.07493004797383448,
          0.7982195613527091
        ],
        "act_eef_pose_r": [
          600.6686644042035,
          -318.14514812687867,
          -4.205456653080091,
          1.75838132792043,
          -0.03946894928151666,
          2.2080068748169266
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.32159383087528665,
          -0.6836129562396059,
          -0.07391843897119708,
          -1.2365056832452628,
          0.20924359294438852,
          -0.3798075087880288,
          0.09514030212390719
        ],
        "joint_pos_r": [
          -0.4423485732860416,
          -0.826581785234089,
          0.14322041476678643,
          -0.7826287801509153,
          0.0498059558964023,
          0.6084422451529217,
          -0.2893355887879692
        ],
        "eef_pose_l": [
          553.4453458234285,
          266.58480017083235,
          51.90891521465352,
          1.8139583103455863,
          -0.0733918950669618,
          0.8027702937221818
        ],
        "eef_pose_r": [
          595.949389436494,
          -320.67062316753936,
          0.8654493501836953,
          1.756982787685787,
          -0.04162042826850024,
          2.208315844100237
        ],
        "joint_status_l": {
          "velocity": [
            -0.5354249391258392,
            -1.8315473554091355,
            0.13422807528185032,
            2.350717253330359,
            2.1299427239147573,
            -0.9405803681183933,
            -1.8679104118048961
          ],
          "torque": [
            -40.6201171875,
            -0.1025390625,
            -7.598876953125,
            -1.348876953125,
            -0.281982421875,
            -1.53076171875,
            -0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.17936728123579826,
            -2.953179223683655,
            -0.31344977377067984,
            4.8651427458556995,
            0.5616202964717765,
            1.8781830432530455,
            -1.0760990753340138
          ],
          "torque": [
            41.982421875,
            3.193359375,
            7.763671875,
            -0.3173828125,
            3.076171875,
            2.969970703125,
            -0.8807373046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.0,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.0,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.2,
            0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.2,
            0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -137,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3176156402739313,
          -0.7006076178970781,
          -0.07272485897726691,
          -1.2189267624191336,
          0.23704429393151133,
          -0.3853020471336582,
          0.07056345981229158
        ],
        "act_joint_pos_r": [
          -0.44558540083318343,
          -0.8624914226255679,
          0.13943715390886818,
          -0.7220240490053265,
          0.059009057946451726,
          0.6451484303775783,
          -0.29805235779941186
        ],
        "act_eef_pose_l": [
          556.9918875079824,
          262.74309076978363,
          50.12203144788788,
          1.8226764852878963,
          -0.07453915421230323,
          0.7970186645242651
        ],
        "act_eef_pose_r": [
          600.6422644042035,
          -315.72034812687866,
          -5.317456653080171,
          1.75410199915407,
          -0.04759919308530043,
          2.217967849330147
        ],
        "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": [
          0.32087622972804586,
          -0.6864045015019762,
          -0.0737190183330254,
          -1.233343887813248,
          0.2132893651609153,
          -0.38091952240054355,
          0.09157273143107128
        ],
        "joint_pos_r": [
          -0.4427761670908238,
          -0.8323685363387779,
          0.142608242136979,
          -0.7729912596021511,
          0.05107761927514261,
          0.6131224589238088,
          -0.29112924707831744
        ],
        "eef_pose_l": [
          554.0745037852747,
          266.01837576931393,
          51.66890761823427,
          1.8151861948029648,
          -0.07360772514023745,
          0.8018902568975228
        ],
        "eef_pose_r": [
          596.8646294927752,
          -320.0332054914117,
          -0.18589796332071273,
          1.7569564864901819,
          -0.0418330672912277,
          2.2089753859044716
        ],
        "joint_status_l": {
          "velocity": [
            -0.3521332754288231,
            -1.5338913309639324,
            0.10736604382977077,
            1.5570036211975946,
            2.5654566431252412,
            -0.47329871197687723,
            -2.268934416184809
          ],
          "torque": [
            -42.7587890625,
            1.58935546875,
            -7.879638671875,
            -0.897216796875,
            -0.552978515625,
            -1.373291015625,
            -0.74066162109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3033882962149015,
            -3.2531757716824927,
            -0.3424674280991802,
            5.504296403912257,
            0.8565701133163017,
            3.458702908017308,
            -0.7476739064147253
          ],
          "torque": [
            31.01806640625,
            3.33251953125,
            7.70263671875,
            -1.9775390625,
            3.4130859375,
            2.794189453125,
            -0.87432861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.9,
            -9.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -15.9,
            -9.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -16.9,
            0.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -16.9,
            0.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -152,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3191044172642943,
          -0.702449871262039,
          -0.0725543021025848,
          -1.212539153873635,
          0.2408839544990103,
          -0.39062656340666035,
          0.0678844688978319
        ],
        "act_joint_pos_r": [
          -0.4470847397120577,
          -0.8662501322976799,
          0.1390980504258923,
          -0.7162371069703316,
          0.05786421627367577,
          0.658982413523096,
          -0.29187245362697234
        ],
        "act_eef_pose_l": [
          557.2718875079823,
          263.29509076978366,
          48.45003144788785,
          1.8263704781441796,
          -0.07353597402765623,
          0.795758266906682
        ],
        "act_eef_pose_r": [
          599.6318644042035,
          -313.34994812687864,
          -6.14145665308024,
          1.7523361010984415,
          -0.05614868227526579,
          2.228236563114627
        ],
        "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": [
          0.3204680689180864,
          -0.6888976511103089,
          -0.07354093474777836,
          -1.2304251743916648,
          0.21752433720951195,
          -0.38209728967917655,
          0.08788881772294457
        ],
        "joint_pos_r": [
          -0.4433038232404033,
          -0.8374856314034501,
          0.14207204106079419,
          -0.7643584015699775,
          0.05233124442935211,
          0.6189947856774756,
          -0.29199603416516795
        ],
        "eef_pose_l": [
          554.5810914363233,
          265.5270551140934,
          51.27335938881939,
          1.8167095745183748,
          -0.07367970479044264,
          0.8009677856298005
        ],
        "eef_pose_r": [
          597.4657225914142,
          -319.23167963367086,
          -1.079924343994037,
          1.7564411839558984,
          -0.04318930701200771,
          2.210906602678526
        ],
        "joint_status_l": {
          "velocity": [
            -0.14727003511216807,
            -1.4635966099119102,
            0.10655318306285189,
            1.931633245471076,
            2.522764262310906,
            -0.9211343951611717,
            -2.160405955344502
          ],
          "torque": [
            -40.83251953125,
            2.01416015625,
            -7.330322265625,
            0.274658203125,
            -0.35888671875,
            -1.31103515625,
            -0.64453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.408326935979364,
            -3.1064744760094243,
            -0.32118151582705146,
            5.196946541016878,
            0.5975433355882576,
            4.318536438902676,
            0.013346304497119377
          ],
          "torque": [
            29.208984375,
            3.6474609375,
            7.4462890625,
            0.69580078125,
            3.77197265625,
            2.4847412109375,
            -0.80108642578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -15.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -15.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.5,
            -0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.5,
            -0.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -190,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 695,
          "motor_current": 896,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3214637712373005,
          -0.7012545193859269,
          -0.07259660836018751,
          -1.2099235391940515,
          0.24226081005577427,
          -0.3900172742553423,
          0.06626337708357861
        ],
        "act_joint_pos_r": [
          -0.45006906637489985,
          -0.8645080853438474,
          0.13938006150386648,
          -0.7229191889877009,
          0.06645887442816667,
          0.660608884245324,
          -0.2917770183481027
        ],
        "act_eef_pose_l": [
          557.4158875079823,
          265.06869076978364,
          46.87723144788794,
          1.8293716513307805,
          -0.07237769478612241,
          0.7998851850372873
        ],
        "act_eef_pose_r": [
          598.3462644042035,
          -311.7963481268787,
          -6.11345665308022,
          1.7474676587434124,
          -0.06561085831453771,
          2.231575661690525
        ],
        "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": [
          0.32042959898298107,
          -0.6911911337443531,
          -0.07337012331075643,
          -1.2270381312842993,
          0.22177276635177556,
          -0.38355300765783407,
          0.08421265181222379
        ],
        "joint_pos_r": [
          -0.4442337318169912,
          -0.842797584001772,
          0.1415301800498429,
          -0.7557434823955024,
          0.05399687114638678,
          0.6266712014270694,
          -0.29196579181071936
        ],
        "eef_pose_l": [
          555.0731161054537,
          265.2835497874421,
          50.642951089885145,
          1.8186485943889485,
          -0.07356245047068546,
          0.8003885569005657
        ],
        "eef_pose_r": [
          597.80702127856,
          -318.0138050379326,
          -2.052201646951488,
          1.7553704396898762,
          -0.04635860075055134,
          2.214424077232767
        ],
        "joint_status_l": {
          "velocity": [
            0.11168730942490157,
            -1.0868135954362756,
            0.08353715086495406,
            1.848321432420974,
            2.212643461601216,
            -0.6981202025757582,
            -1.9384644987393562
          ],
          "torque": [
            -33.75,
            1.728515625,
            -7.476806640625,
            -0.555419921875,
            -0.267333984375,
            -1.4263916015625,
            -0.68939208984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6301975455706987,
            -2.344664992746992,
            -0.2322059544168642,
            3.5449191362415533,
            1.3458566605117905,
            3.6651616462064496,
            0.02038693268202607
          ],
          "torque": [
            28.38134765625,
            3.193359375,
            7.55615234375,
            -1.544189453125,
            3.9752197265625,
            2.8179931640625,
            -0.16571044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.7,
            -7.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.7,
            -7.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.4,
            0.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.4,
            0.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -185,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 639,
          "motor_current": 1455,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32208802113286467,
          -0.7008752898036856,
          -0.0726084140601981,
          -1.2088098945723489,
          0.24360008977908695,
          -0.3895624533277561,
          0.06563920192589998
        ],
        "act_joint_pos_r": [
          -0.45147316777950813,
          -0.8663530315439562,
          0.1392638450507515,
          -0.7219044770941085,
          0.0680386601332863,
          0.6621884581980565,
          -0.29159840641089163
        ],
        "act_eef_pose_l": [
          557.5606875079824,
          265.78869076978367,
          46.359631447888034,
          1.8306552778504848,
          -0.0729066375134218,
          0.8015142474177508
        ],
        "act_eef_pose_r": [
          598.1622644042035,
          -310.7963481268787,
          -6.853456653080229,
          1.747045983198665,
          -0.06849678480836272,
          2.2332290505646135
        ],
        "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": [
          0.3205599271457777,
          -0.6924593388781739,
          -0.07327264362883437,
          -1.2248813210093907,
          0.22435470479007036,
          -0.38436764563130876,
          0.08195065339837042
        ],
        "joint_pos_r": [
          -0.445327117672113,
          -0.8467171889060129,
          0.14114491831834985,
          -0.7498953185806848,
          0.05626962148366586,
          0.632741023154736,
          -0.29192457279078154
        ],
        "eef_pose_l": [
          555.3708497616917,
          265.2554870969146,
          50.17063616001286,
          1.819986307213314,
          -0.073417027372598,
          0.8003179077569562
        ],
        "eef_pose_r": [
          597.9083848176475,
          -316.87043304981347,
          -2.8178591217959195,
          1.7540169813387185,
          -0.04992483888649323,
          2.217531638634359
        ],
        "joint_status_l": {
          "velocity": [
            0.09761228296367719,
            -0.9498514804651137,
            0.07300965570922191,
            1.6153927925941503,
            1.933802334244783,
            -0.610141896221883,
            -1.6941758749510205
          ],
          "torque": [
            -30.498046875,
            1.82373046875,
            -7.21435546875,
            -0.653076171875,
            -0.303955078125,
            -1.556396484375,
            -0.61431884765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6637538352256556,
            -2.1206084608946796,
            -0.20314992131398313,
            3.02292172423968,
            1.2710186874665963,
            3.1802291888318734,
            0.03522493012431127
          ],
          "torque": [
            27.94189453125,
            3.08349609375,
            7.33642578125,
            0.03662109375,
            3.863525390625,
            2.991943359375,
            -0.2105712890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.3,
            -6.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.0,
            0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.0,
            0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 564,
          "motor_current": 2866,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32314285518391367,
          -0.6999787573102321,
          -0.07269735325174968,
          -1.2121651735773844,
          0.24282175937076111,
          -0.3838477942709369,
          0.06623355205974109
        ],
        "act_joint_pos_r": [
          -0.4533555329735348,
          -0.86964114066449,
          0.1389633918273971,
          -0.7170065795396918,
          0.0651236646256459,
          0.6709976812459413,
          -0.2852357469998494
        ],
        "act_eef_pose_l": [
          557.4918875079824,
          265.9054907697837,
          46.130031447887916,
          1.8304756011516066,
          -0.07320759849313056,
          0.8047160597336458
        ],
        "act_eef_pose_r": [
          597.3798644042035,
          -309.1523481268787,
          -8.327856653080289,
          1.7480365981804538,
          -0.07529574040267754,
          2.239687764832687
        ],
        "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": [
          0.32090616238885883,
          -0.6938827081941761,
          -0.07316161492815605,
          -1.2222816791861832,
          0.22770133166840892,
          -0.3848740943944,
          0.07910950533180462
        ],
        "joint_pos_r": [
          -0.44652317483799614,
          -0.8503800422774346,
          0.1407948694782036,
          -0.7446616867123194,
          0.058181096696162705,
          0.6384594792938728,
          -0.2914971710608902
        ],
        "eef_pose_l": [
          555.7559889732728,
          265.3567469571684,
          49.48170183330885,
          1.8218511799253423,
          -0.0733485687847804,
          0.8007533673648641
        ],
        "eef_pose_r": [
          597.9216807114352,
          -315.7004176985755,
          -3.6297808983592574,
          1.7528954383537088,
          -0.053628643000363484,
          2.2206839044304525
        ],
        "joint_status_l": {
          "velocity": [
            0.2415556975612354,
            -0.658353887423857,
            0.050138782287545425,
            1.092550382701063,
            1.6329580303311442,
            0.11083714436743719,
            -1.3905619409507741
          ],
          "torque": [
            -26.27197265625,
            0.57861328125,
            -11.42578125,
            -0.40283203125,
            -0.567626953125,
            0.087890625,
            -0.74981689453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7378729162397235,
            -2.0801372754322145,
            -0.19779375267225952,
            2.9866634877135922,
            0.7497752229460586,
            3.5140221702798513,
            0.6762138547307117
          ],
          "torque": [
            27.23876953125,
            1.0107421875,
            6.976318359375,
            -0.01220703125,
            3.7445068359375,
            3.270263671875,
            -0.16021728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.0,
            -9.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -16.0,
            -9.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -16.9,
            0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -16.9,
            0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 397,
          "motor_current": 4862,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32469008585341297,
          -0.6976681444031274,
          -0.07289862979302572,
          -1.2183278649487985,
          0.2508674799638269,
          -0.37872025817430216,
          0.0605292699749742
        ],
        "act_joint_pos_r": [
          -0.45583466350368607,
          -0.8684511642910023,
          0.13911701641501853,
          -0.7202086221808609,
          0.07163255781415279,
          0.6693818786943108,
          -0.2843841511465328
        ],
        "act_eef_pose_l": [
          556.5366875079824,
          265.84229076978363,
          45.252431447887886,
          1.833561296883583,
          -0.07468541448339311,
          0.805321259742093
        ],
        "act_eef_pose_r": [
          596.8662644042034,
          -309.06914812687864,
          -8.803056653080375,
          1.7460617284236712,
          -0.08251321581687292,
          2.2377511522694937
        ],
        "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": [
          0.3214131865155339,
          -0.6947939416964855,
          -0.07309404195129268,
          -1.2209373367688312,
          0.2309548609264245,
          -0.3843229315862082,
          0.07642163983287578
        ],
        "joint_pos_r": [
          -0.4480109452842818,
          -0.8536512861063683,
          0.14048838426453372,
          -0.7401333588001322,
          0.06014308295621061,
          0.6440301752253287,
          -0.29029400216678775
        ],
        "eef_pose_l": [
          555.995318610155,
          265.44784623066795,
          48.82414841975964,
          1.8236062492908394,
          -0.0734228436133192,
          0.8014921386833861
        ],
        "eef_pose_r": [
          597.7806801905082,
          -314.5307908403295,
          -4.526635437495088,
          1.7518676344164292,
          -0.0582945065630308,
          2.2238256136404946
        ],
        "joint_status_l": {
          "velocity": [
            0.35389469092450554,
            -0.3104047374193897,
            0.021103890666895886,
            0.2818146448859693,
            2.150499430449093,
            0.6050708828744256,
            -1.716325324343848
          ],
          "torque": [
            -26.85791015625,
            1.1572265625,
            -11.151123046875,
            -0.5615234375,
            -0.3826904296875,
            0.3021240234375,
            -0.6903076171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8449366476210862,
            -1.5983397034302627,
            -0.14810335967263555,
            2.1518080906943737,
            1.2408266884307295,
            2.7379032245109514,
            0.6382450861548428
          ],
          "torque": [
            28.07373046875,
            2.52685546875,
            7.373046875,
            -0.10986328125,
            4.075927734375,
            2.783203125,
            0.27191162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.9,
            -7.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -15.9,
            -7.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 167,
          "motor_current": 4031,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32503627590879886,
          -0.6962390430303598,
          -0.07302834551531041,
          -1.2225752491405142,
          0.2553176004535896,
          -0.37599915803213485,
          0.05725574246464525
        ],
        "act_joint_pos_r": [
          -0.4567763918201835,
          -0.8684356391304472,
          0.13910975689759278,
          -0.7196150487002975,
          0.07461966315707214,
          0.6702956871433287,
          -0.2840262736217364
        ],
        "act_eef_pose_l": [
          555.9110875079824,
          265.5678907697836,
          45.12843144788786,
          1.8346984254503043,
          -0.07562730279132954,
          0.8049597031428731
        ],
        "act_eef_pose_r": [
          596.7454644042035,
          -309.23394812687866,
          -9.0062566530803,
          1.7449695616372074,
          -0.0856831918128874,
          2.2369924844770903
        ],
        "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": [
          0.3220223026974264,
          -0.69517938530011,
          -0.07307063218505368,
          -1.2208407504509557,
          0.23485778179603345,
          -0.38309862780360804,
          0.07333058551452468
        ],
        "joint_pos_r": [
          -0.4496085963429442,
          -0.8564470553414866,
          0.14022823003509316,
          -0.7362920416395604,
          0.06269145986643412,
          0.6489377469077924,
          -0.28913172085220046
        ],
        "eef_pose_l": [
          556.0372641023944,
          265.4921140344797,
          48.17763518968073,
          1.8254836506085268,
          -0.07371526482432814,
          0.8021312869668015
        ],
        "eef_pose_r": [
          597.6007346582433,
          -313.51555464116086,
          -5.3720141159284935,
          1.750682499794998,
          -0.0632938789239245,
          2.226362956433113
        ],
        "joint_status_l": {
          "velocity": [
            0.32549950673343986,
            -0.11443965964907932,
            0.004566825640983652,
            -0.187320333752794,
            2.2095952464877833,
            0.7667201221179809,
            -1.7360318478646386
          ],
          "torque": [
            -25.7958984375,
            0.91552734375,
            -10.82763671875,
            -3.08837890625,
            -0.208740234375,
            0.60791015625,
            -0.68389892578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7740990807096892,
            -1.2947288632210174,
            -0.12079153629418471,
            1.8010621179529451,
            1.2882079617259623,
            2.3065895162162064,
            0.5513720390415422
          ],
          "torque": [
            27.73681640625,
            2.6220703125,
            7.562255859375,
            -0.7080078125,
            4.061279296875,
            3.1219482421875,
            0.3680419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.0,
            -5.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.0,
            -5.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.8,
            -2.1,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.8,
            -2.1,
            1.2,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 44,
          "motor_current": 4755,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32487927554666085,
          -0.6960472523940506,
          -0.07304383401752891,
          -1.2229687915123788,
          0.25565019595552324,
          -0.3757634512129213,
          0.05713398418313568
        ],
        "act_joint_pos_r": [
          -0.4589763186329509,
          -0.8630066042706568,
          0.13970415189346755,
          -0.7308707454172578,
          0.08018746555477918,
          0.6669601613902982,
          -0.2835216972221128
        ],
        "act_eef_pose_l": [
          555.8830875079824,
          265.5734907697837,
          45.230031447887825,
          1.8346486225810215,
          -0.07595970044327963,
          0.8049507433450233
        ],
        "act_eef_pose_r": [
          595.3070644042035,
          -308.99794812687867,
          -8.559056653080233,
          1.7422624207414699,
          -0.09174193498515097,
          2.2374732770752983
        ],
        "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": [
          0.3225438784989927,
          -0.6953529132551124,
          -0.07306427229443181,
          -1.2211757994943084,
          0.23849923045732446,
          -0.38182638698906723,
          0.07047963913734488
        ],
        "joint_pos_r": [
          -0.4511531613963097,
          -0.8578825614504569,
          0.14010538125914204,
          -0.7347618713069859,
          0.0655021305045498,
          0.6522936616160049,
          -0.28816544727637605
        ],
        "eef_pose_l": [
          556.012485238986,
          265.5043476918577,
          47.64154762888805,
          1.827128344687423,
          -0.07406706072629378,
          0.8026249716189511
        ],
        "eef_pose_r": [
          597.2715045968263,
          -312.7232638737323,
          -5.967212040711473,
          1.7493688211839518,
          -0.06803005297263004,
          2.228301122847692
        ],
        "joint_status_l": {
          "velocity": [
            0.25221544245113137,
            -0.07498641539882556,
            0.0022072688056207213,
            -0.19363742691957953,
            1.8522496446220504,
            0.654777752186142,
            -1.4412882265306681
          ],
          "torque": [
            -25.94970703125,
            1.2451171875,
            -10.601806640625,
            -4.266357421875,
            -0.60791015625,
            0.673828125,
            -0.6024169921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8448760632697727,
            -0.5533803035016049,
            -0.04333149349866616,
            0.42022920209383585,
            1.5859694097573596,
            1.5839352599504863,
            0.5015102146073147
          ],
          "torque": [
            27.275390625,
            3.3984375,
            11.114501953125,
            -0.35400390625,
            4.0447998046875,
            2.471923828125,
            0.4595947265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -15.9,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -15.9,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.9,
            0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.9,
            0.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4835,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32475097974916867,
          -0.6954448844652978,
          -0.07310649255733494,
          -1.2254802343619067,
          0.25984405927731447,
          -0.3711955546501894,
          0.05390811183398566
        ],
        "act_joint_pos_r": [
          -0.46000816121735916,
          -0.8547774780152569,
          0.1406663527096241,
          -0.749908205499329,
          0.09386598792080704,
          0.6704722292565609,
          -0.2932013014611627
        ],
        "act_eef_pose_l": [
          555.9678875079824,
          265.73189076978366,
          45.23883144788789,
          1.8355427862766447,
          -0.07761813588212431,
          0.8073148672179062
        ],
        "act_eef_pose_r": [
          592.6998644042035,
          -306.6939481268787,
          -5.063856653080165,
          1.7294106239715392,
          -0.09490737021669098,
          2.2485530573705095
        ],
        "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": [
          0.32300072872585545,
          -0.6954326191620797,
          -0.07306639482645222,
          -1.2217861428383021,
          0.24236516024433946,
          -0.3801528802966686,
          0.06747517818359838
        ],
        "joint_pos_r": [
          -0.4526663959387088,
          -0.8577514866816167,
          0.14015569873277164,
          -0.7364730209371653,
          0.06982241207056888,
          0.6553294188986272,
          -0.28856423356950306
        ],
        "eef_pose_l": [
          555.9941492507113,
          265.53256108417037,
          47.15218443551089,
          1.8287535712738692,
          -0.0746009003899542,
          0.80332232516509
        ],
        "eef_pose_r": [
          596.5993419231535,
          -311.7601436697419,
          -5.999603694788362,
          1.7465487989062574,
          -0.07264583101103493,
          2.2313113842853967
        ],
        "joint_status_l": {
          "velocity": [
            0.18902153562549984,
            -0.00132461368007597,
            -0.0043304272161481805,
            -0.39895011814472525,
            1.8876654218453748,
            0.967362638984337,
            -1.465199951995566
          ],
          "torque": [
            -25.693359375,
            4.38720703125,
            -10.31494140625,
            -4.45556640625,
            -0.281982421875,
            1.11328125,
            -0.64361572265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7928872651339347,
            0.32118346316778457,
            0.055149002967214145,
            -1.4509571390197706,
            2.5966296083291263,
            1.635375285840901,
            -0.5007885623298236
          ],
          "torque": [
            28.26416015625,
            8.62060546875,
            12.53662109375,
            -4.656982421875,
            3.9459228515625,
            2.801513671875,
            -0.501708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -15.7,
            -7.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -15.7,
            -7.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.7,
            -0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.7,
            -0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4825,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32530559655633234,
          -0.6957269454092391,
          -0.07308254132852564,
          -1.224795720046074,
          0.2571096881981171,
          -0.3701523681769488,
          0.05569423598998791
        ],
        "act_joint_pos_r": [
          -0.45571641484194286,
          -0.8453042064739836,
          0.14158640037225234,
          -0.7631816847809765,
          0.08978519895285374,
          0.682261558635709,
          -0.29398121039920716
        ],
        "act_eef_pose_l": [
          556.1942875079824,
          265.9374907697836,
          45.066831447887864,
          1.835026488786203,
          -0.0768279251173258,
          0.8089229382496794
        ],
        "act_eef_pose_r": [
          590.0510644042035,
          -305.71314812687865,
          -0.29905665308024254,
          1.7216688608599322,
          -0.08972789136340392,
          2.2651425691163736
        ],
        "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": [
          0.32332845067303617,
          -0.6954549726079802,
          -0.07307125978092924,
          -1.2223440795776321,
          0.24504145679332273,
          -0.3786051221657518,
          0.06537359842299588
        ],
        "joint_pos_r": [
          -0.45337749439146674,
          -0.8566550456553141,
          0.14029301914975115,
          -0.7392976176150291,
          0.07287035334295726,
          0.6582843740153026,
          -0.2892650412245193
        ],
        "eef_pose_l": [
          556.0057279436254,
          265.57928580468166,
          46.82108172059367,
          1.8298514990532384,
          -0.07503095604767965,
          0.8040913971536254
        ],
        "eef_pose_r": [
          595.87590178763,
          -310.9720432389559,
          -5.539080260400851,
          1.7436578682327661,
          -0.07540741977264141,
          2.2348925775040027
        ],
        "joint_status_l": {
          "velocity": [
            0.21352545779906862,
            -0.029372196249433102,
            -0.0012183712063684737,
            -0.2647693616353308,
            1.3033305520377958,
            0.9128705071144161,
            -1.0453403121004068
          ],
          "torque": [
            -25.34912109375,
            4.4970703125,
            -10.223388671875,
            -4.779052734375,
            -0.208740234375,
            0.97412109375,
            -0.56121826171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.25259595873183827,
            1.2258544769387925,
            0.13968105235750983,
            -2.5794031784922566,
            1.8267494487737013,
            2.5894595669759823,
            -0.5093312489439228
          ],
          "torque": [
            29.1796875,
            9.111328125,
            13.19580078125,
            -5.21240234375,
            3.955078125,
            3.4130859375,
            -0.63995361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.6,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.6,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.3,
            -18.2,
            0.7,
            1.2,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.3,
            -18.2,
            0.7,
            1.2,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4842,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32525733179496397,
          -0.6957758504882299,
          -0.07306999550562708,
          -1.2239161555006624,
          0.2558925273096071,
          -0.3718006629466879,
          0.05589124282087772
        ],
        "act_joint_pos_r": [
          -0.4536867620404709,
          -0.8367567707735624,
          0.14248171142547908,
          -0.7768081301279233,
          0.09002454557775551,
          0.6873831353516302,
          -0.29970379139590947
        ],
        "act_eef_pose_l": [
          556.1662875079824,
          265.97269076978364,
          45.10283144788792,
          1.8347529299072263,
          -0.07566137019788609,
          0.8083848724490401
        ],
        "act_eef_pose_r": [
          587.8030644042035,
          -305.1283481268787,
          3.109743346919686,
          1.7153729824959993,
          -0.08357908728680087,
          2.275849393739937
        ],
        "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": [
          0.32367454671335094,
          -0.6955065858274221,
          -0.07307234987762012,
          -1.2227141320816775,
          0.24708746213481392,
          -0.3772294491333638,
          0.06367641030756659
        ],
        "joint_pos_r": [
          -0.4536728863762958,
          -0.8544137297876391,
          0.14054495526487013,
          -0.7438223409473174,
          0.07566158402832322,
          0.6624509835651005,
          -0.29029161785770863
        ],
        "eef_pose_l": [
          556.0369971410878,
          265.64466056070347,
          46.510910222638614,
          1.8307586649811307,
          -0.07525857670115924,
          0.8049050268583542
        ],
        "eef_pose_r": [
          594.8389498718309,
          -310.0670938840458,
          -4.542657342435547,
          1.739819202422662,
          -0.07755967706280693,
          2.2403232918414155
        ],
        "joint_status_l": {
          "velocity": [
            0.1709357473336226,
            -0.02907972570653783,
            0.0002542646760916867,
            -0.12981470057127353,
            0.9509189930210216,
            0.586291616413881,
            -0.8407732912796839
          ],
          "torque": [
            -24.41162109375,
            3.7939453125,
            -9.99755859375,
            -5.11474609375,
            -0.062255859375,
            1.1663818359375,
            -0.567626953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0014985275340606563,
            1.9068953326488725,
            0.2091634963981015,
            -3.5623601653087533,
            1.5511540984940453,
            2.6925929791596914,
            -1.0164847625100393
          ],
          "torque": [
            29.091796875,
            10.56884765625,
            13.739013671875,
            -5.206298828125,
            3.92578125,
            2.9461669921875,
            -0.82763671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.5,
            -6.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.5,
            -6.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.3,
            -0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.3,
            -0.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4856,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32498651380661725,
          -0.6953569572733489,
          -0.07305259373220117,
          -1.2201460334758236,
          0.25433557305255305,
          -0.37567926019258907,
          0.05695560206158857
        ],
        "act_joint_pos_r": [
          -0.44952627132543643,
          -0.8209177691442016,
          0.14425304087728183,
          -0.8040193586502301,
          0.09076722972299933,
          0.6924007261504451,
          -0.31608534496178914
        ],
        "act_eef_pose_l": [
          556.4286875079824,
          267.0166907697836,
          45.07243144788782,
          1.8349733060602171,
          -0.07517153555065716,
          0.808736535439402
        ],
        "act_eef_pose_r": [
          583.8958644042035,
          -303.96194812687867,
          9.568943346919923,
          1.70426178452964,
          -0.06593124500762947,
          2.2938517917765284
        ],
        "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": [
          0.3239238365558206,
          -0.6955069249901216,
          -0.07306996993961441,
          -1.2225012287140187,
          0.24846858056762913,
          -0.3767072659595669,
          0.062420032547877265
        ],
        "joint_pos_r": [
          -0.45326151565758555,
          -0.8497164014826779,
          0.14106357567952493,
          -0.7523610761493527,
          0.07827494760860113,
          0.6673582732916415,
          -0.293585163815151
        ],
        "eef_pose_l": [
          556.0897179620748,
          265.8200756421661,
          46.25776463862587,
          1.8314928840655882,
          -0.07527217459739392,
          0.805558804094518
        ],
        "eef_pose_r": [
          593.2603370887307,
          -309.06335902265363,
          -2.5629009701265772,
          1.7344194679568896,
          -0.07701277139366158,
          2.2484319379123567
        ],
        "joint_status_l": {
          "velocity": [
            0.11476575825053459,
            0.01619603573566053,
            0.0018765750541271942,
            0.2543535839674149,
            0.63361650085203,
            0.11102134843410383,
            -0.5901410872382051
          ],
          "torque": [
            -24.7998046875,
            3.955078125,
            -9.6923828125,
            -1.9775390625,
            -0.355224609375,
            1.0693359375,
            -0.62347412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4033944903873987,
            3.11016056327329,
            0.34445208228661706,
            -5.578929968350188,
            1.3491266779905864,
            2.704505143634961,
            -2.429947896354534
          ],
          "torque": [
            37.24365234375,
            11.7919921875,
            14.16015625,
            -5.322265625,
            4.0374755859375,
            2.9425048828125,
            -0.88531494140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.0,
            -8.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.0,
            -8.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.5,
            -0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.5,
            -0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4793,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.325743662654588,
          -0.6955570831703555,
          -0.07301923424467559,
          -1.2181852775468094,
          0.24468104285564124,
          -0.3763250656961676,
          0.06474592078501883
        ],
        "act_joint_pos_r": [
          -0.44538816304007245,
          -0.8092652880628011,
          0.14539845241041782,
          -0.8154765037620131,
          0.08515305745454249,
          0.7103114900605035,
          -0.32376733450524514
        ],
        "act_eef_pose_l": [
          556.7286875079824,
          267.39749076978364,
          45.186031447887956,
          1.8323690504708459,
          -0.07365435658361241,
          0.8102505914469148
        ],
        "act_eef_pose_r": [
          580.2158644042036,
          -304.0979481268787,
          14.441743346919793,
          1.6966282180802001,
          -0.05200100069963239,
          2.3135183088154716
        ],
        "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": [
          0.3241839745535352,
          -0.6955048537681224,
          -0.07306334899339599,
          -1.2218927883658826,
          0.2483436423251444,
          -0.37661114112210625,
          0.06240078721959044
        ],
        "joint_pos_r": [
          -0.45213413723541207,
          -0.8433096623117071,
          0.1417567514115317,
          -0.7627875513874648,
          0.07985016905950262,
          0.6738070906559539,
          -0.29843024238932675
        ],
        "eef_pose_l": [
          556.1797503324208,
          266.0594110064789,
          46.075691025022934,
          1.831770929650257,
          -0.07508320383241116,
          0.8062515370362064
        ],
        "eef_pose_r": [
          591.2755605900176,
          -308.1632746037411,
          0.12339147931345451,
          1.7282033906487608,
          -0.07370147632563835,
          2.2587729283733053
        ],
        "joint_status_l": {
          "velocity": [
            0.16844134700155777,
            -0.005640609080259651,
            0.004764252347744247,
            0.40039935931268644,
            -0.39554907660988015,
            0.03089523479538059,
            0.2532669553566569
          ],
          "torque": [
            -24.67529296875,
            3.9697265625,
            -9.381103515625,
            -1.251220703125,
            -2.6568603515625,
            0.3021240234375,
            0.274658203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7285437258484073,
            3.6766839808848317,
            0.39329210834893047,
            -5.69023903182142,
            0.5726950559263866,
            3.9423588620319805,
            -2.736325244919957
          ],
          "torque": [
            40.83984375,
            11.09619140625,
            14.996337890625,
            -4.91943359375,
            4.178466796875,
            3.3380126953125,
            -0.9136962890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.3,
            -9.9,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -16.3,
            -9.9,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.5,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.5,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4833,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3257107414762152,
          -0.6932409165026798,
          -0.07322115589683086,
          -1.224237263108155,
          0.2435801576767336,
          -0.37185022427140035,
          0.06520237573376299
        ],
        "act_joint_pos_r": [
          -0.4413371676690643,
          -0.8043504981215553,
          0.14571076189758456,
          -0.81271470176473,
          0.08501366619442763,
          0.7327714865609128,
          -0.32445898517424426
        ],
        "act_eef_pose_l": [
          556.1006875079823,
          267.1534907697837,
          45.845231447887784,
          1.8308993893058934,
          -0.07386948046413083,
          0.8112334210238217
        ],
        "act_eef_pose_r": [
          578.3086644042035,
          -304.92594812687867,
          18.46094334691975,
          1.6875072705997265,
          -0.049011462393013135,
          2.3277293546217663
        ],
        "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": [
          0.32445602560336106,
          -0.6952527255794788,
          -0.07307833454426789,
          -1.2219201924214889,
          0.247571836955783,
          -0.37605560684150796,
          0.06286693421459358
        ],
        "joint_pos_r": [
          -0.45062219746260446,
          -0.8372240753790935,
          0.14238649399848713,
          -0.7711746662373972,
          0.08070807460069121,
          0.6820422317802451,
          -0.3026643373430537
        ],
        "eef_pose_l": [
          556.2063157363102,
          266.2681373973278,
          45.9930623938603,
          1.8317085672263305,
          -0.07485477844755009,
          0.8070691748075066
        ],
        "eef_pose_r": [
          589.3570864344587,
          -307.5604542085071,
          2.8773062414976778,
          1.72205848059977,
          -0.07008040923598555,
          2.269279345639233
        ],
        "joint_status_l": {
          "velocity": [
            0.13550531775230468,
            0.21726897228901976,
            -0.015424251162854397,
            -0.25023625383546744,
            -0.43108864785734724,
            0.45416792260466465,
            0.25222024523180453
          ],
          "torque": [
            -24.814453125,
            6.27685546875,
            -9.326171875,
            -4.034423828125,
            -2.724609375,
            1.2982177734375,
            0.37078857421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.002753643065013,
            3.550241635034368,
            0.35901034465823933,
            -4.486191523805694,
            0.4649901779713028,
            5.478597933702645,
            -2.353752545547927
          ],
          "torque": [
            41.7333984375,
            10.3271484375,
            14.84375,
            -6.072998046875,
            4.149169921875,
            3.0120849609375,
            -0.882568359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.0,
            -7.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.0,
            -7.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.6,
            -0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.6,
            -0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4795,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3252371468457591,
          -0.6926664103519056,
          -0.07328337159118388,
          -1.226804141538641,
          0.23833652587923543,
          -0.37163534153168803,
          0.06994803979401598
        ],
        "act_joint_pos_r": [
          -0.43906624290036556,
          -0.7969021047022071,
          0.14636785395953603,
          -0.815789640237135,
          0.08931001165678822,
          0.7604439481053162,
          -0.32916591560495484
        ],
        "act_eef_pose_l": [
          555.7582875079823,
          266.4982907697837,
          46.702031447887805,
          1.8281495606569722,
          -0.07387538474961768,
          0.8097490302850843
        ],
        "act_eef_pose_r": [
          574.6070644042035,
          -304.54194812687865,
          23.112143346919765,
          1.6736572626848334,
          -0.046872366844489546,
          2.3490391175127256
        ],
        "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": [
          0.3245993791218058,
          -0.6948901994758964,
          -0.07310620242048732,
          -1.2225272274504246,
          0.2464443607542197,
          -0.3753958770753475,
          0.06369347120019789
        ],
        "joint_pos_r": [
          -0.4493523729513847,
          -0.832754255365135,
          0.14283427477800664,
          -0.7765446236380774,
          0.08143931157282489,
          0.6896502297355981,
          -0.3056176026909202
        ],
        "eef_pose_l": [
          556.1564339346662,
          266.3369342173712,
          46.05641896141762,
          1.831308355231468,
          -0.07470700880955487,
          0.8075526624681229
        ],
        "eef_pose_r": [
          587.8757590235136,
          -307.19222556615017,
          5.046644739989148,
          1.7170620067979336,
          -0.06754954549744036,
          2.277652694659836
        ],
        "joint_status_l": {
          "velocity": [
            0.06887688277146253,
            0.24016214218747223,
            -0.019133706116725158,
            -0.4618930987181358,
            -0.8756203414568287,
            0.40612586067334533,
            0.6754734861068035
          ],
          "torque": [
            -24.84375,
            7.1630859375,
            -9.5947265625,
            -4.547119140625,
            -2.786865234375,
            1.094970703125,
            0.41107177734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1108692821721888,
            3.8719180754771543,
            0.38161529646374426,
            -4.2383367896361435,
            0.8500105393471902,
            7.645496092075987,
            -2.5431427887281366
          ],
          "torque": [
            41.71142578125,
            10.87646484375,
            15.032958984375,
            -5.1513671875,
            3.9862060546875,
            3.2501220703125,
            -0.9246826171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.7,
            -6.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -15.7,
            -6.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.8,
            -0.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.8,
            -0.3,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4844,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32564459463631584,
          -0.6879419299376165,
          -0.07371384489338156,
          -1.2403385133454572,
          0.23734699642512463,
          -0.36310447595966044,
          0.07089209718614044
        ],
        "act_joint_pos_r": [
          -0.43579362048453213,
          -0.7868063699977166,
          0.14748373452794522,
          -0.8278964144073384,
          0.09697065612597378,
          0.7800121709972959,
          -0.33566149668994705
        ],
        "act_eef_pose_l": [
          554.0390875079823,
          265.49029076978366,
          47.780431447887906,
          1.8257583565096505,
          -0.07474801220443882,
          0.8097030748244209
        ],
        "act_eef_pose_r": [
          570.8526644042036,
          -303.7043481268787,
          29.23374334691971,
          1.6574376134142654,
          -0.04396673951276622,
          2.367907126484161
        ],
        "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": [
          0.3247392191645633,
          -0.6941188528585995,
          -0.07317229977501069,
          -1.2243927433222794,
          0.24502648392647433,
          -0.3740449818564911,
          0.06480277428728676
        ],
        "joint_pos_r": [
          -0.44739000819288194,
          -0.82597202196862,
          0.14350803606726498,
          -0.7840150426324655,
          0.083167272163873,
          0.7030263330251737,
          -0.31006634278682127
        ],
        "eef_pose_l": [
          555.9449998036333,
          266.2762488670493,
          46.25626799681436,
          1.8305748013474012,
          -0.07464964214277955,
          0.8079081645517634
        ],
        "eef_pose_r": [
          585.488107717364,
          -306.64537970255105,
          8.507402130463987,
          1.7086451716796727,
          -0.06416491207174381,
          2.2912179708671028
        ],
        "joint_status_l": {
          "velocity": [
            0.09777766715091118,
            0.6670880007568769,
            -0.058485147856779385,
            -1.722092372103745,
            -0.8293601894744373,
            1.1815397892047663,
            0.65762747739051
          ],
          "torque": [
            -24.45556640625,
            7.1044921875,
            -15.618896484375,
            -5.596923828125,
            -2.8509521484375,
            1.0162353515625,
            0.53924560546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2523729357365454,
            4.229765662588036,
            0.42936277037552983,
            -4.739048380924871,
            1.490721501426373,
            8.314225286022214,
            -2.7641950959611528
          ],
          "torque": [
            42.61962890625,
            10.1220703125,
            15.289306640625,
            -6.024169921875,
            4.0594482421875,
            3.3306884765625,
            -0.721435546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.1,
            -5.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.1,
            -5.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.3,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.3,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4833,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32522517434787207,
          -0.6895086064257646,
          -0.07355472988035322,
          -1.2343926567254446,
          0.2326724837543551,
          -0.36708378244860335,
          0.07495560620051162
        ],
        "act_joint_pos_r": [
          -0.4329860973318218,
          -0.7834295742212738,
          0.14783009806437653,
          -0.8299325791860984,
          0.09770173725956877,
          0.7917656137020432,
          -0.33896744031304515
        ],
        "act_eef_pose_l": [
          554.8590875079824,
          266.1294907697837,
          47.81803144788779,
          1.8248722809477411,
          -0.07434698448691736,
          0.810196425782032
        ],
        "act_eef_pose_r": [
          569.3910644042035,
          -303.42194812687865,
          32.22254334691979,
          1.6507182930627067,
          -0.03937025533514598,
          2.377857679148208
        ],
        "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": [
          0.3248739471995571,
          -0.693053560120905,
          -0.07326324089601846,
          -1.2269282367578065,
          0.24295477594918988,
          -0.3722940563431711,
          0.06648577808198172
        ],
        "joint_pos_r": [
          -0.44517652478796277,
          -0.8188509805577885,
          0.14423110008946327,
          -0.7918919591702795,
          0.08565030946087168,
          0.7173210664286873,
          -0.3147838888488815
        ],
        "eef_pose_l": [
          555.6561328512468,
          266.18937977009256,
          46.56863886945311,
          1.8294943116512432,
          -0.07462965843579718,
          0.8083220142259505
        ],
        "eef_pose_r": [
          582.9540407901343,
          -306.0582641196504,
          12.341384239364345,
          1.6991817576151846,
          -0.060799546716633915,
          2.3054876625663456
        ],
        "joint_status_l": {
          "velocity": [
            0.037931413290781535,
            0.38284370770380605,
            -0.03147988185858708,
            -0.8061335808644543,
            -1.110454805928418,
            0.5626929848707718,
            0.9147144587403067
          ],
          "torque": [
            -26.57958984375,
            7.7783203125,
            -11.773681640625,
            -5.157470703125,
            -2.999267578125,
            1.021728515625,
            0.52276611328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3165273363653363,
            3.8253990602301613,
            0.38868031777727907,
            -4.108265794885213,
            1.3015158161021612,
            8.039773985063725,
            -2.6117465287831543
          ],
          "torque": [
            41.8359375,
            11.7333984375,
            14.886474609375,
            -5.682373046875,
            4.41650390625,
            3.7078857421875,
            -0.732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.1,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.1,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.0,
            -17.7,
            -0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.0,
            -17.7,
            -0.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 4766,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3241674602293142,
          -0.6928740357805908,
          -0.07320935043696399,
          -1.2211485832248326,
          0.22544335500494725,
          -0.37555329561173306,
          0.08298514671940119
        ],
        "act_joint_pos_r": [
          -0.42932186629614666,
          -0.7705831179946993,
          0.14952001091843697,
          -0.8522289135988094,
          0.09809165239559058,
          0.8036099003475548,
          -0.3395670192903177
        ],
        "act_eef_pose_l": [
          556.7046875079824,
          267.7270907697837,
          47.7772314478878,
          1.8239104711961014,
          -0.0755643619162247,
          0.8112459689894855
        ],
        "act_eef_pose_r": [
          564.6750644042036,
          -301.40674812687865,
          38.1953433469198,
          1.6391415589582226,
          -0.036522362911254026,
          2.39804723660571
        ],
        "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": [
          0.3248123318573285,
          -0.6928505508160357,
          -0.07327218673412317,
          -1.2266608539427786,
          0.24044865976752905,
          -0.3723932353914128,
          0.06878425434614141
        ],
        "joint_pos_r": [
          -0.44275695726424624,
          -0.8116619261737706,
          0.14498927885980922,
          -0.8002254652932047,
          0.08780921677494415,
          0.7313374820181707,
          -0.3191029747511502
        ],
        "eef_pose_l": [
          555.7333082310638,
          266.3586695976939,
          46.76839899220755,
          1.8286294822531939,
          -0.07471819884813705,
          0.8087430847202494
        ],
        "eef_pose_r": [
          580.3633353865918,
          -305.39550999695103,
          16.29144831775494,
          1.6897227576303506,
          -0.057280664732830035,
          2.3198624427905625
        ],
        "joint_status_l": {
          "velocity": [
            -0.0696440817833377,
            -0.002536301367150884,
            0.006786119947310709,
            0.5953076798768109,
            -1.6205251195253734,
            -0.3412764383838862,
            1.5336511436894185
          ],
          "torque": [
            -29.6923828125,
            5.2880859375,
            -12.005615234375,
            -1.5869140625,
            -3.25927734375,
            -0.5621337890625,
            0.51544189453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4509470311594441,
            4.436380439293508,
            0.48930463106300337,
            -5.616206775839849,
            1.1104702954591872,
            7.805190977770771,
            -2.210051628241505
          ],
          "torque": [
            43.330078125,
            10.693359375,
            15.631103515625,
            -6.50634765625,
            4.266357421875,
            3.486328125,
            -0.73699951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -15.9,
            -4.7,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -15.9,
            -4.7,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.5,
            -18.4,
            1.4,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.5,
            -18.4,
            1.4,
            1.2,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 2799,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32523874437471445,
          -0.6902385190682262,
          -0.07340966818079134,
          -1.2252351750061972,
          0.22297822196944758,
          -0.3715499815565059,
          0.08489372142337966
        ],
        "act_joint_pos_r": [
          -0.4256063695201467,
          -0.7637646460193256,
          0.15039972642662072,
          -0.861921839619513,
          0.09320655006581191,
          0.8265059642066687,
          -0.3387814799634104
        ],
        "act_eef_pose_l": [
          556.2118875079824,
          268.31509076978364,
          47.76603144788788,
          1.8233244001675373,
          -0.07544542742156125,
          0.8138705882124077
        ],
        "act_eef_pose_r": [
          560.1918644042034,
          -298.8371481268787,
          42.680943346919776,
          1.6299573880283964,
          -0.031925362495918284,
          2.4237874990982347
        ],
        "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": [
          0.32477115458546124,
          -0.6927754802910279,
          -0.07327100342196695,
          -1.226159346175919,
          0.2386827227446364,
          -0.37263176892103284,
          0.07044300645776018
        ],
        "joint_pos_r": [
          -0.43973626556796674,
          -0.8028160210185432,
          0.14597589212277967,
          -0.8115150167402005,
          0.08945728979600144,
          0.7478367637228142,
          -0.3231505018428951
        ],
        "eef_pose_l": [
          555.8282220758596,
          266.52958628349364,
          46.88110239491252,
          1.8280827888855757,
          -0.07480800678947001,
          0.8090988350972266
        ],
        "eef_pose_r": [
          577.0189048074408,
          -304.30353762806504,
          21.10164105886298,
          1.6786273797760591,
          -0.05328390829189843,
          2.3379116573324854
        ],
        "joint_status_l": {
          "velocity": [
            0.050498207874394296,
            0.2739837313443516,
            -0.014975352278567833,
            0.0998075426643652,
            -1.6960360618107906,
            0.11682958966430235,
            1.5606311879303725
          ],
          "torque": [
            -30.2197265625,
            5.42724609375,
            -12.01171875,
            -1.177978515625,
            -3.1988525390625,
            -0.97412109375,
            0.52093505859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5259837666792286,
            4.217424113640789,
            0.4777600140364324,
            -5.443776315365412,
            0.40490816701155286,
            8.496023075449166,
            -1.6880958492899723
          ],
          "torque": [
            42.5537109375,
            10.517578125,
            16.1376953125,
            -6.75048828125,
            4.3927001953125,
            3.4625244140625,
            -0.78460693359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.0,
            -6.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.0,
            -6.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.2,
            -17.3,
            -2.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.2,
            -17.3,
            -2.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 938,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32568435902756143,
          -0.6890680423622192,
          -0.07350722429421809,
          -1.2277676015713122,
          0.22222540528126844,
          -0.3691519238444264,
          0.08572129273344405
        ],
        "act_joint_pos_r": [
          -0.4178000195629159,
          -0.7645231441055189,
          0.1502124781145552,
          -0.8560520991587826,
          0.08248745812488821,
          0.8532666900537768,
          -0.3332906943564403
        ],
        "act_eef_pose_l": [
          555.9358875079823,
          268.4070907697836,
          47.8076314478879,
          1.8230216013453318,
          -0.07573780458056743,
          0.8148764413939932
        ],
        "act_eef_pose_r": [
          558.1630644042035,
          -296.8131481268787,
          46.87134334691973,
          1.6245077230792602,
          -0.025419847476207565,
          2.4470277550890707
        ],
        "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": [
          0.3248910740253507,
          -0.6921973215975458,
          -0.07330455566386208,
          -1.2261206688193673,
          0.235481051452627,
          -0.3722748880726773,
          0.0733969053439316
        ],
        "joint_pos_r": [
          -0.4369597512356555,
          -0.7964402332528422,
          0.14669226889176595,
          -0.819460573982534,
          0.08945076656847221,
          0.7623246734255429,
          -0.32540109337560896
        ],
        "eef_pose_l": [
          555.8893249758086,
          266.892346368455,
          47.06196930804961,
          1.8271043001303704,
          -0.07495261745544408,
          0.8101102213047906
        ],
        "eef_pose_r": [
          574.3031109157974,
          -303.2162866649375,
          24.931432576158556,
          1.670106368830473,
          -0.04984500359024165,
          2.3534559712825316
        ],
        "joint_status_l": {
          "velocity": [
            0.08567225347055896,
            0.3379521900486182,
            -0.021887566539202652,
            -0.17786349140713753,
            -1.4315675646785486,
            0.3372701893988861,
            1.330994582480538
          ],
          "torque": [
            -24.11865234375,
            9.3017578125,
            -12.298583984375,
            -2.728271484375,
            -3.292236328125,
            0.6646728515625,
            0.5767822265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.069189993159526,
            3.4469439657334178,
            0.3801713835056564,
            -3.9517681678624683,
            -0.7520151324063029,
            9.821448127720345,
            -0.85205177600578
          ],
          "torque": [
            42.34130859375,
            10.6201171875,
            15.6494140625,
            -4.5166015625,
            2.81982421875,
            4.2718505859375,
            -0.98052978515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -15.5,
            -7.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -15.5,
            -7.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.1,
            1.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.1,
            1.1,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 906,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32607969553943267,
          -0.6875281797237371,
          -0.07363806905125145,
          -1.2312631707878992,
          0.22267531061779272,
          -0.36594079193495777,
          0.08534682882154694
        ],
        "act_joint_pos_r": [
          -0.4133968130810457,
          -0.7655130463543138,
          0.15021056204503275,
          -0.8577715056005496,
          0.07448474411670646,
          0.8667032995175828,
          -0.3281734303305483
        ],
        "act_eef_pose_l": [
          555.5598875079824,
          268.4926907697836,
          47.879631447888016,
          1.8229657722403771,
          -0.07611286257714044,
          0.8160975417486966
        ],
        "act_eef_pose_r": [
          556.4038644042034,
          -293.75074812687865,
          49.24174334691975,
          1.621915853125398,
          -0.0231167218991428,
          2.4643173143345467
        ],
        "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": [
          0.3250543064026739,
          -0.6915545576337341,
          -0.07334799254227052,
          -1.2266149871520735,
          0.2331634856719898,
          -0.37153612355681276,
          0.07555420062784192
        ],
        "joint_pos_r": [
          -0.43331628021736407,
          -0.7908545465721779,
          0.14731456013431285,
          -0.8260301775971483,
          0.08775455910296509,
          0.7791847850037128,
          -0.3264986780432807
        ],
        "eef_pose_l": [
          555.8760186445062,
          267.1640521048197,
          47.199111477485786,
          1.8263720295502022,
          -0.0751145909114084,
          0.8110197436803384
        ],
        "eef_pose_r": [
          571.5291603117571,
          -301.8163265880205,
          29.01677004377632,
          1.6615610532173568,
          -0.045822633482927325,
          2.3710611824768915
        ],
        "joint_status_l": {
          "velocity": [
            0.11073876070488708,
            0.4348359894779108,
            -0.03132733901944906,
            -0.5019890272937033,
            -1.1326894989622804,
            0.6042779929340547,
            1.0575726534819418
          ],
          "torque": [
            -24.32373046875,
            8.64990234375,
            -12.847900390625,
            -4.9560546875,
            -2.9974365234375,
            0.94482421875,
            0.5291748046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.151239003319372,
            2.7368013058897134,
            0.31275898202465235,
            -3.42796232202236,
            -1.4330977515571997,
            9.451720803894226,
            -0.18086791261096025
          ],
          "torque": [
            41.69677734375,
            11.27197265625,
            16.070556640625,
            -5.938720703125,
            1.629638671875,
            3.8946533203125,
            -0.9521484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.9,
            -7.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.9,
            -7.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.5,
            -0.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.5,
            -0.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 1003,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32656730791360733,
          -0.6854341935232794,
          -0.0738214264197156,
          -1.2364023878638457,
          0.22328025656915243,
          -0.36067281906433374,
          0.08524120047115774
        ],
        "act_joint_pos_r": [
          -0.40219089259650165,
          -0.7761592097981356,
          0.1490171914470149,
          -0.8457644695908377,
          0.049026823293336186,
          0.8975784582517048,
          -0.3104909881679188
        ],
        "act_eef_pose_l": [
          555.1014875079824,
          268.6014907697837,
          48.03723144788802,
          1.8227739198368553,
          -0.07720380775992002,
          0.818171037757267
        ],
        "act_eef_pose_r": [
          554.8854644042035,
          -287.4107481268787,
          52.07294334691983,
          1.6246157073662766,
          -0.019238802101991727,
          2.4984887904743767
        ],
        "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": [
          0.3252833006747772,
          -0.6906424428479534,
          -0.07341604814510695,
          -1.2278642127468424,
          0.23122444935591452,
          -0.37009856835539395,
          0.0773977544691657
        ],
        "joint_pos_r": [
          -0.42898638450405624,
          -0.7871415632875969,
          0.14774055351199855,
          -0.8307765829459259,
          0.08357278364868082,
          0.7968849470678101,
          -0.32551985332889016
        ],
        "eef_pose_l": [
          555.7841748189812,
          267.4222106073203,
          47.34072247729409,
          1.8257037225523773,
          -0.07538530193074747,
          0.8121262270217091
        ],
        "eef_pose_r": [
          568.9367585909117,
          -299.8166720027119,
          32.90450873575523,
          1.6542102608717097,
          -0.041850940983851274,
          2.3900314850988433
        ],
        "joint_status_l": {
          "velocity": [
            0.13866869197887155,
            0.5624743377712349,
            -0.043779562448609255,
            -0.9220957168771804,
            -0.8579475171610618,
            1.0179509005774356,
            0.847067185303918
          ],
          "torque": [
            -23.671875,
            8.41552734375,
            -13.323974609375,
            -5.26123046875,
            -3.1951904296875,
            0.8770751953125,
            0.57952880859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.8938277771279886,
            1.186059195915412,
            0.13787283064004008,
            -1.6186440182961448,
            -3.73085368272974,
            10.874578479311836,
            1.6230695675067963
          ],
          "torque": [
            41.89453125,
            10.5908203125,
            15.8447265625,
            -6.109619140625,
            1.512451171875,
            3.746337890625,
            0.179443359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.0,
            -7.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.0,
            -7.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.2,
            -17.5,
            -4.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.2,
            -17.5,
            -4.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 927,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.327101048062922,
          -0.6852994348527769,
          -0.07384798947875519,
          -1.2380016126561568,
          0.2191790076524771,
          -0.3574469479737222,
          0.08896014747024993
        ],
        "act_joint_pos_r": [
          -0.38903677162607236,
          -0.8005592235056832,
          0.1461490105460431,
          -0.8097016544612512,
          0.0178456623654748,
          0.9411033971756019,
          -0.28269681606579133
        ],
        "act_eef_pose_l": [
          555.1822875079823,
          268.52629076978366,
          48.14923144788787,
          1.8214151452782301,
          -0.07732721932194744,
          0.8200342707277034
        ],
        "act_eef_pose_r": [
          555.6190644042035,
          -279.98994812687863,
          52.73614334691979,
          1.6325294774553467,
          -0.023328323722043992,
          2.5357566139623113
        ],
        "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": [
          0.3255546142220015,
          -0.6897710243997612,
          -0.07348568789347416,
          -1.2294483099574047,
          0.22945566460410072,
          -0.3681850027291462,
          0.07910683689167528
        ],
        "joint_pos_r": [
          -0.42434140468309456,
          -0.7865458233488027,
          0.14780840813417281,
          -0.8314682664468934,
          0.0769598105431517,
          0.8140807695863208,
          -0.3220181913332037
        ],
        "eef_pose_l": [
          555.6825848680063,
          267.6063422416685,
          47.47034938358084,
          1.8250529480394844,
          -0.07570396477845062,
          0.8133270183156294
        ],
        "eef_pose_r": [
          567.0208645615804,
          -297.47362221345486,
          35.98435969556121,
          1.6493083504748647,
          -0.038712850234946805,
          2.4081131268639906
        ],
        "joint_status_l": {
          "velocity": [
            0.1670099291244398,
            0.4829174281866244,
            -0.0391274172087952,
            -0.923729447521282,
            -1.1098462176111212,
            1.15967571077924,
            1.0641261577626349
          ],
          "torque": [
            -24.4482421875,
            8.45947265625,
            -13.92822265625,
            -5.28564453125,
            -3.1036376953125,
            1.0565185546875,
            0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.8127879179903346,
            -1.5134025815193297,
            -0.17920965401185818,
            2.350724763528156,
            -6.384139713053183,
            13.718039187702757,
            4.246583282601524
          ],
          "torque": [
            42.12890625,
            8.95751953125,
            15.478515625,
            -4.913330078125,
            1.7413330078125,
            3.380126953125,
            0.50262451171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.0,
            -7.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.0,
            -7.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -16.9,
            -1.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -16.9,
            -1.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 976,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3258972321454766,
          -0.6889009925616296,
          -0.07355706864374585,
          -1.2312193181017617,
          0.221682344654185,
          -0.35904905050795916,
          0.08635951338398933
        ],
        "act_joint_pos_r": [
          -0.3793794265145656,
          -0.8310900029962976,
          0.1428388931135856,
          -0.7648640082646735,
          -0.00888611810518203,
          0.9806962406555937,
          -0.2593573315994406
        ],
        "act_eef_pose_l": [
          556.5926875079824,
          268.74069076978367,
          47.98683144788794,
          1.8223465574604238,
          -0.0777164811801283,
          0.8215271472698215
        ],
        "act_eef_pose_r": [
          557.9030644042035,
          -272.6147481268787,
          50.73374334691971,
          1.6431508225358733,
          -0.030206120420626897,
          2.565526604160133
        ],
        "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": [
          0.3256921947390452,
          -0.6893868197154683,
          -0.07351691753123205,
          -1.2301952725159557,
          0.22792114887433523,
          -0.3664672101469259,
          0.08055552214589741
        ],
        "joint_pos_r": [
          -0.4171386789629019,
          -0.7920602604811771,
          0.1471857711882934,
          -0.8231599608834745,
          0.06384905020740828,
          0.8404775482282698,
          -0.31274437505562375
        ],
        "eef_pose_l": [
          555.7543890799969,
          267.7919537835977,
          47.57387960870105,
          1.8245042667823448,
          -0.07603893667676843,
          0.8146792491628001
        ],
        "eef_pose_r": [
          565.5164090515271,
          -293.4324565987888,
          38.99146813456929,
          1.6458414859509354,
          -0.03635515719819185,
          2.433594065987812
        ],
        "joint_status_l": {
          "velocity": [
            0.02214338680994743,
            0.052467785160104086,
            -0.004336192262366367,
            -0.11059366148202798,
            -0.6737709839634842,
            0.8011376127172731,
            0.6268125668654756
          ],
          "torque": [
            -26.69677734375,
            5.28076171875,
            -14.36767578125,
            -4.656982421875,
            -3.22265625,
            0.7177734375,
            0.49713134765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.077878993808515,
            -4.215087874261947,
            -0.4694489864107698,
            6.295777198808139,
            -7.855166502007793,
            15.143172158161633,
            5.765630645081732
          ],
          "torque": [
            41.12548828125,
            0.56396484375,
            9.72900390625,
            -0.67138671875,
            1.7047119140625,
            3.1329345703125,
            0.8294677734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.2,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.2,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            -2.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            -2.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 915,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3264886419648809,
          -0.6926228671698517,
          -0.07327061020182975,
          -1.225204757384356,
          0.20694678574762634,
          -0.36171995565812987,
          0.09912235526265535
        ],
        "act_joint_pos_r": [
          -0.3732138957740916,
          -0.8597352786175844,
          0.14002044285866994,
          -0.7229069866018195,
          -0.02346103363112828,
          1.0153326831924196,
          -0.24599627244482927
        ],
        "act_eef_pose_l": [
          557.6374875079823,
          268.24309076978363,
          48.08363144788797,
          1.8182685645069976,
          -0.07586572565929835,
          0.8217787741270967
        ],
        "act_eef_pose_r": [
          560.1518644042035,
          -266.06194812687863,
          48.87614334691989,
          1.6477935550695164,
          -0.03686580516376329,
          2.5888891211167193
        ],
        "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": [
          0.325802977556931,
          -0.6897699584175967,
          -0.07348791660087622,
          -1.2296183671181837,
          0.224961075409537,
          -0.36549220921042236,
          0.0831901118336896
        ],
        "joint_pos_r": [
          -0.4098492699229905,
          -0.8018102552297287,
          0.14613686887431132,
          -0.8086794826979788,
          0.0495391640374434,
          0.8687145126476499,
          -0.30197613648983307
        ],
        "eef_pose_l": [
          556.034501369107,
          267.8947288056533,
          47.661154147340085,
          1.8235977485504504,
          -0.07610413402709208,
          0.8159145458646666
        ],
        "eef_pose_r": [
          564.6946793635657,
          -288.9046304863144,
          41.10097046987593,
          1.6441833635544651,
          -0.035338366053053225,
          2.459206519666727
        ],
        "joint_status_l": {
          "velocity": [
            0.07404957208301255,
            -0.3081050581705824,
            0.023468398933634838,
            0.47665579304201344,
            -1.9454859044467643,
            0.40739136828138456,
            1.7206315430136065
          ],
          "torque": [
            -24.228515625,
            4.32861328125,
            -14.971923828125,
            -1.5625,
            -3.3416748046875,
            0.684814453125,
            0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.956503717241766,
            -6.255718023346901,
            -0.6605545276749947,
            9.263156376192683,
            -7.8837888282834445,
            15.834295411254473,
            6.045647010032962
          ],
          "torque": [
            41.3671875,
            0.8203125,
            9.14306640625,
            -1.57470703125,
            1.8017578125,
            3.5467529296875,
            1.06109619140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.7,
            -5.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.7,
            -5.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.4,
            -3.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.4,
            -3.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -211,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 940,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32632528926750287,
          -0.6939967113924133,
          -0.07317602941840595,
          -1.2239055961089451,
          0.20436093705346486,
          -0.3626081624562859,
          0.101674455840807
        ],
        "act_joint_pos_r": [
          -0.3708030291806073,
          -0.8727722349496857,
          0.1389518955249999,
          -0.7071232257927832,
          -0.028841985391826253,
          1.0216692352035515,
          -0.2475379901201998
        ],
        "act_eef_pose_l": [
          557.8822875079824,
          267.7630907697836,
          48.20763144788776,
          1.8172815696007074,
          -0.07579522235462895,
          0.8209094448896042
        ],
        "act_eef_pose_r": [
          562.1238644042035,
          -262.95314812687866,
          47.846543346919816,
          1.650721284587586,
          -0.032847821189296376,
          2.593829841177205
        ],
        "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": [
          0.3258908101358502,
          -0.6903396656425745,
          -0.07344552306043638,
          -1.2288191815072367,
          0.22196939278777464,
          -0.3650079453255833,
          0.08586239330428164
        ],
        "joint_pos_r": [
          -0.40361952592161443,
          -0.8124525491175179,
          0.1450395838573165,
          -0.793223282508124,
          0.03707612432907838,
          0.8933620763137665,
          -0.29290571965936973
        ],
        "eef_pose_l": [
          556.3020555477673,
          267.8979941848224,
          47.738993113841275,
          1.8226828931840076,
          -0.07606139783677081,
          0.8167107947340551
        ],
        "eef_pose_r": [
          564.3664738676941,
          -284.7474354342818,
          42.43751057852185,
          1.6437351496579404,
          -0.03467642488744815,
          2.4809313144424054
        ],
        "joint_status_l": {
          "velocity": [
            0.04692236231695901,
            -0.3949492925752196,
            0.029104454949302472,
            0.5306515722853788,
            -1.9016571329264487,
            0.2591689061057778,
            1.7076523894297146
          ],
          "torque": [
            -27.2021484375,
            1.7724609375,
            -15.130615234375,
            -1.141357421875,
            -3.013916015625,
            1.0382080078125,
            0.61798095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.5440771210617505,
            -6.514333939864336,
            -0.6574509494110536,
            9.298531879719185,
            -7.118945887772066,
            13.85676447667361,
            4.899570285129329
          ],
          "torque": [
            39.9169921875,
            1.6552734375,
            8.63037109375,
            1.1962890625,
            1.7779541015625,
            3.1549072265625,
            0.9228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.6,
            -6.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.6,
            -6.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.3,
            0.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.3,
            0.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -211,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 925,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3254901557924431,
          -0.6967994657505509,
          -0.07300732987753378,
          -1.2233555621356549,
          0.21472680110658646,
          -0.3626363341744466,
          0.09339778989415232
        ],
        "act_joint_pos_r": [
          -0.3679981724853576,
          -0.8935866538618654,
          0.13737238311728284,
          -0.685188119934047,
          -0.029570285623775838,
          1.029736688424959,
          -0.24518705911084007
        ],
        "act_eef_pose_l": [
          558.0742875079824,
          266.43909076978366,
          47.80443144788802,
          1.8200507631556997,
          -0.07706171435142911,
          0.8180978266657147
        ],
        "act_eef_pose_r": [
          565.2182644042035,
          -257.1523481268787,
          47.158543346919714,
          1.6490900955414745,
          -0.03606685233617644,
          2.6005277171028953
        ],
        "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": [
          0.3259088958747593,
          -0.6909235928970101,
          -0.07340415394625481,
          -1.2281758127899314,
          0.22020547724401765,
          -0.3647067574997781,
          0.08749165436856476
        ],
        "joint_pos_r": [
          -0.397983749377925,
          -0.8241564883938691,
          0.14390313850738706,
          -0.7771849193295723,
          0.026176943821550003,
          0.9151480549970112,
          -0.28524556477588003
        ],
        "eef_pose_l": [
          556.5097051688132,
          267.82218033682443,
          47.780888499209254,
          1.8221201783732055,
          -0.0760835368791776,
          0.8171127288696992
        ],
        "eef_pose_r": [
          564.479749856288,
          -280.5879297958492,
          43.34965623116858,
          1.6437608839325115,
          -0.03420347275663756,
          2.5000497935572414
        ],
        "joint_status_l": {
          "velocity": [
            -0.04522259512107496,
            -0.6345755523771146,
            0.042855735459479405,
            0.5205717172209745,
            -0.591679572186532,
            0.22359912443237207,
            0.6378438245653317
          ],
          "torque": [
            -26.89453125,
            2.8564453125,
            -15.460205078125,
            -0.408935546875,
            -3.0194091796875,
            1.2286376953125,
            0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.2383467944643307,
            -7.498236721872331,
            -0.705300780396767,
            9.935361306898649,
            -6.020523214254614,
            12.375207422985035,
            4.326191017640646
          ],
          "torque": [
            42.9345703125,
            -0.22705078125,
            8.6669921875,
            -0.45166015625,
            1.98486328125,
            2.67333984375,
            0.59783935546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -15.9,
            -7.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.6,
            -15.9,
            -7.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -18.1,
            -2.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -18.1,
            -2.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 967,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32478377114988966,
          -0.7007223127919612,
          -0.0727079824597869,
          -1.2165929740093349,
          0.21215179519728078,
          -0.3691930751591031,
          0.09323789334071463
        ],
        "act_joint_pos_r": [
          -0.3624508741480952,
          -0.9181982489090629,
          0.13548706924846196,
          -0.6532657746608843,
          -0.033338817293079526,
          1.043883306722035,
          -0.2437605287154998
        ],
        "act_eef_pose_l": [
          558.7966875079824,
          265.6414907697837,
          47.73643144788781,
          1.8193276023535656,
          -0.07362873314612543,
          0.8151739103662411
        ],
        "act_eef_pose_r": [
          569.1630644042035,
          -251.66754812687867,
          46.95214334691991,
          1.6489974971500998,
          -0.035171918769850645,
          2.6080383321627054
        ],
        "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": [
          0.32578392753999375,
          -0.6922453407468346,
          -0.07331240864257013,
          -1.2268359575219094,
          0.2190511388152076,
          -0.36481344173956404,
          0.088524379961193
        ],
        "joint_pos_r": [
          -0.3916893907020012,
          -0.8400586059441854,
          0.1424558394445767,
          -0.7561919055212705,
          0.01521339864806402,
          0.9384058999029954,
          -0.2775120481559992
        ],
        "eef_pose_l": [
          556.8391901759061,
          267.5210032881305,
          47.7793814537425,
          1.8217030849414937,
          -0.07600773658534826,
          0.8170753922699103
        ],
        "eef_pose_r": [
          565.3116801747,
          -275.51648204922935,
          44.07224877153763,
          1.6438621407691707,
          -0.03406155893753472,
          2.519860213719021
        ],
        "joint_status_l": {
          "velocity": [
            -0.10801370443758174,
            -0.9154859800570847,
            0.06527610252493599,
            1.1062095934502025,
            -0.7451071349759975,
            -0.47298645932025707,
            0.5090444315253295
          ],
          "torque": [
            -31.83837890625,
            1.82373046875,
            -10.382080078125,
            -1.287841796875,
            -2.9058837890625,
            -0.399169921875,
            0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.1576666574224532,
            -8.438832550144326,
            -0.7526049842827565,
            11.11569429304371,
            -5.2434846733296485,
            11.391223970263376,
            3.645056594376417
          ],
          "torque": [
            42.16552734375,
            -0.15380859375,
            7.855224609375,
            -1.727294921875,
            2.0635986328125,
            3.116455078125,
            0.941162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.8,
            -5.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.8,
            -5.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -17.3,
            -1.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -17.3,
            -1.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -194,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 929,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32395585587391706,
          -0.7004879227420241,
          -0.07274018191369942,
          -1.21823392053959,
          0.21528488352066383,
          -0.37559722846568555,
          0.0890117471574081
        ],
        "act_joint_pos_r": [
          -0.3572846331779301,
          -0.9343192017116184,
          0.13454599461344474,
          -0.6391970632475467,
          -0.03715049728073794,
          1.0421507349381074,
          -0.242081985510571
        ],
        "act_eef_pose_l": [
          557.6894875079824,
          264.24229076978366,
          48.130031447887916,
          1.8193730460202877,
          -0.07112976629232881,
          0.8079145905120161
        ],
        "act_eef_pose_r": [
          572.6438644042034,
          -246.85394812687866,
          47.56734334691987,
          1.6500990218573388,
          -0.03277380309774914,
          2.6091598328636785
        ],
        "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": [
          0.32553516675836125,
          -0.6938309028490973,
          -0.07320047131939701,
          -1.2250179689518992,
          0.21797280819667506,
          -0.36610310549988534,
          0.08911069623317408
        ],
        "joint_pos_r": [
          -0.3855792537195297,
          -0.8566490296380238,
          0.14103228996327977,
          -0.7351474972679316,
          0.005605108833158948,
          0.9581495325034504,
          -0.2709423479527468
        ],
        "eef_pose_l": [
          557.1307259955721,
          267.0656434197973,
          47.79783880350561,
          1.821261898109729,
          -0.07537472172204626,
          0.8161928115288103
        ],
        "eef_pose_r": [
          566.6531265143265,
          -270.48777098252083,
          44.669535628448585,
          1.6442642899311362,
          -0.03372233278313652,
          2.536632217884599
        ],
        "joint_status_l": {
          "velocity": [
            -0.1705605451056691,
            -0.7189369445237404,
            0.04970978970342266,
            0.7326556200073497,
            -0.2902873034429376,
            -1.0253350396656202,
            -0.010686185010544413
          ],
          "torque": [
            -33.59619140625,
            0.43212890625,
            -14.019775390625,
            -1.007080078125,
            -2.969970703125,
            -1.2469482421875,
            0.21331787109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.055728894586718,
            -8.388131189242642,
            -0.7004992376615782,
            10.36234125328317,
            -4.617469275324221,
            9.071862302666212,
            3.1168272178501155
          ],
          "torque": [
            42.51708984375,
            -0.60791015625,
            7.476806640625,
            -1.019287109375,
            2.0452880859375,
            3.0963134765625,
            0.7891845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.1,
            -8.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.1,
            -8.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.1,
            -17.2,
            -2.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.1,
            -17.2,
            -2.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -185,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 996,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3229726208768311,
          -0.7024672423210977,
          -0.0725739918052232,
          -1.2132321133355646,
          0.21865731522287168,
          -0.3836454805976502,
          0.08556181530835928
        ],
        "act_joint_pos_r": [
          -0.34925304570251997,
          -0.9610581934096236,
          0.1326320324135575,
          -0.598243349459159,
          -0.04081571809551088,
          1.053819644883707,
          -0.24262634590565496
        ],
        "act_eef_pose_l": [
          557.7542875079824,
          263.77669076978367,
          47.99963144788791,
          1.820568867080632,
          -0.06982168606683592,
          0.802998285909574
        ],
        "act_eef_pose_r": [
          578.6198644042034,
          -243.15314812687865,
          48.06814334691967,
          1.6515653659194753,
          -0.0275804226609179,
          2.607800451541991
        ],
        "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": [
          0.3251657254793177,
          -0.6952320388474885,
          -0.07310147695720925,
          -1.2233748932105426,
          0.2177078489897454,
          -0.3684781398250111,
          0.0888432450702524
        ],
        "joint_pos_r": [
          -0.3793242142927343,
          -0.8743488754129062,
          0.13959016273805608,
          -0.7123879747968055,
          -0.0028908799249699646,
          0.9753456271927055,
          -0.2655480964998771
        ],
        "eef_pose_l": [
          557.243319228114,
          266.49805781450755,
          47.84978602661789,
          1.8209930796892837,
          -0.07447565648232812,
          0.8142742995555027
        ],
        "eef_pose_r": [
          568.6802393822339,
          -265.6767472541256,
          45.2153363167173,
          1.6449621486656942,
          -0.032744063653740905,
          2.550165627112153
        ],
        "joint_status_l": {
          "velocity": [
            -0.23684831160109,
            -0.7813789296102769,
            0.0569667162709786,
            1.0953879197579397,
            0.10253932894177531,
            -1.6380244924949494,
            -0.3543839622881517
          ],
          "torque": [
            -35.67626953125,
            1.787109375,
            -7.952880859375,
            -0.87890625,
            -1.3238525390625,
            -1.1590576171875,
            -0.34332275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.247590425183411,
            -9.364330157490386,
            -0.7514559120385123,
            12.327255963485939,
            -4.095761724383498,
            8.474943955516956,
            2.4754760539125176
          ],
          "torque": [
            42.39990234375,
            -1.904296875,
            7.80029296875,
            -2.117919921875,
            2.398681640625,
            3.0743408203125,
            0.8953857421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -15.9,
            -8.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -15.9,
            -8.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.6,
            -2.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.6,
            -2.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 980,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32248771111193125,
          -0.7032034644424789,
          -0.07252567814097242,
          -1.2125513351841828,
          0.22449238760766782,
          -0.38490414035275783,
          0.08098469506961849
        ],
        "act_joint_pos_r": [
          -0.3456405209337543,
          -0.9717446908426847,
          0.13203917243009372,
          -0.5836912106312521,
          -0.043674749533577646,
          1.056641190408838,
          -0.24097025822250362
        ],
        "act_eef_pose_l": [
          557.7366875079824,
          263.48309076978364,
          47.76443144788783,
          1.8224392255114135,
          -0.07054317745419927,
          0.8013666484407461
        ],
        "act_eef_pose_r": [
          580.9934644042035,
          -241.20914812687866,
          48.40654334691976,
          1.6529621072334906,
          -0.026279905792617384,
          2.607391278414656
        ],
        "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": [
          0.3247566752955022,
          -0.6965436088305617,
          -0.07300609184772758,
          -1.2215516736449583,
          0.2181319221582427,
          -0.3712151169505286,
          0.08806209384152165
        ],
        "joint_pos_r": [
          -0.3753759794790165,
          -0.8857453427880995,
          0.1386872566048591,
          -0.6973643348176094,
          -0.007795764154352671,
          0.9853589427460724,
          -0.2625867445739716
        ],
        "eef_pose_l": [
          557.3355616542091,
          266.0031904291547,
          47.865719924897945,
          1.8209958914236368,
          -0.07368477070226077,
          0.8122089607921769
        ],
        "eef_pose_r": [
          570.1749451280084,
          -262.813040200179,
          45.54165404861476,
          1.6455373546169558,
          -0.03191677425583055,
          2.557396451519464
        ],
        "joint_status_l": {
          "velocity": [
            -0.24504090473076445,
            -0.719243193142205,
            0.051883150117837395,
            0.9720078859238868,
            0.6869100092099512,
            -1.478370925220851,
            -0.764336524464837
          ],
          "torque": [
            -36.70166015625,
            1.99951171875,
            -11.138916015625,
            -0.653076171875,
            -1.1114501953125,
            -1.3531494140625,
            -0.439453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.2113348096309835,
            -9.287655665134231,
            -0.7179719154249975,
            12.276335340970057,
            -3.87481613936308,
            7.6982556996636475,
            2.3345116732171878
          ],
          "torque": [
            43.43994140625,
            1.376953125,
            7.50732421875,
            0.299072265625,
            2.1826171875,
            2.677001953125,
            0.66375732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.0,
            -7.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.0,
            -7.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.3,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.3,
            -0.9,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 921,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32215947545201684,
          -0.7035070676416949,
          -0.07255352052212055,
          -1.2166333201470763,
          0.2426620421156714,
          -0.3785211656407188,
          0.06073974256591278
        ],
        "act_joint_pos_r": [
          -0.33902743267364865,
          -0.9897157510838159,
          0.1309455636074864,
          -0.5597802580370494,
          -0.042748169488046724,
          1.061340710761831,
          -0.23749733235516832
        ],
        "act_eef_pose_l": [
          557.6222875079824,
          262.97989076978365,
          46.92283144788786,
          1.8279687430315252,
          -0.06827115088243295,
          0.8038011727211682
        ],
        "act_eef_pose_r": [
          585.1870644042035,
          -237.77394812687868,
          50.32974334691971,
          1.6502043363597672,
          -0.0270437194362856,
          2.605773104408126
        ],
        "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": [
          0.3243184643141212,
          -0.6977553867342213,
          -0.0729242924784389,
          -1.2204209608473275,
          0.22130682103539046,
          -0.37291517848379896,
          0.08452625264065555
        ],
        "joint_pos_r": [
          -0.36937226087255337,
          -0.9029786556949655,
          0.13738841352527054,
          -0.6745677914143123,
          -0.01403491249512701,
          0.9984925505464992,
          -0.258372873297519
        ],
        "eef_pose_l": [
          557.394899263504,
          265.49800277796544,
          47.75555381396484,
          1.821855916293617,
          -0.07287488812480142,
          0.8105537869590397
        ],
        "eef_pose_r": [
          572.7651532952056,
          -258.71449275320623,
          46.17193301927202,
          1.6461489762504657,
          -0.030892253428309688,
          2.5660316322685373
        ],
        "joint_status_l": {
          "velocity": [
            -0.23316392030503508,
            -0.6211632177768323,
            0.04004219030118161,
            0.4090531312499479,
            2.3062958561099745,
            -0.6054287567804906,
            -2.5688673233804638
          ],
          "torque": [
            -37.6318359375,
            2.0068359375,
            -10.198974609375,
            -0.03662109375,
            -0.3717041015625,
            -1.4080810546875,
            -0.71868896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.2771447912631757,
            -9.367330027364673,
            -0.6958072693823425,
            12.396687983977195,
            -3.1009402978900007,
            6.787401119560776,
            2.2544919290887755
          ],
          "torque": [
            43.80615234375,
            0.52734375,
            7.5927734375,
            -1.702880859375,
            2.1697998046875,
            2.9241943359375,
            0.6884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.8,
            -6.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -15.8,
            -6.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.1,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.1,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 963,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32177676040945835,
          -0.7061570668143886,
          -0.07237081316106383,
          -1.2135077459012042,
          0.2633265625826522,
          -0.3785979810425229,
          0.044267739495996584
        ],
        "act_joint_pos_r": [
          -0.33282127812140727,
          -1.0112330945317176,
          0.1297824679875987,
          -0.5328895244744083,
          -0.038337914910451694,
          1.0609454351759253,
          -0.23786509456003155
        ],
        "act_eef_pose_l": [
          558.1022875079824,
          262.8710907697837,
          45.30603144788785,
          1.8356698605184452,
          -0.07092171614294741,
          0.8030932883843849
        ],
        "act_eef_pose_r": [
          590.6990644042035,
          -233.67234812687866,
          52.14654334691977,
          1.6459628127472654,
          -0.026031482893531452,
          2.5992067044505878
        ],
        "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": [
          0.32392034996810587,
          -0.6989999696398157,
          -0.07284272208352124,
          -1.2194455917581806,
          0.22714936261893445,
          -0.37384544469465536,
          0.07875711398507065
        ],
        "joint_pos_r": [
          -0.3633067201368627,
          -0.9207425811420887,
          0.13611801650132932,
          -0.6512379641999012,
          -0.018613992145320602,
          1.0095600296230105,
          -0.2547234014840566
        ],
        "eef_pose_l": [
          557.485455075742,
          265.0649736676031,
          47.43991040260656,
          1.8237037725626486,
          -0.07241724367083789,
          0.8093298755499289
        ],
        "eef_pose_r": [
          575.7936303572303,
          -254.67960372250008,
          46.992965483964355,
          1.6460958493242683,
          -0.030068622126600473,
          2.5722867671971614
        ],
        "joint_status_l": {
          "velocity": [
            -0.23150084458167797,
            -0.7729436980978832,
            0.05096466050313886,
            0.641268439352416,
            3.907022364616264,
            -0.5132587878104999,
            -3.724742589409469
          ],
          "torque": [
            -37.81494140625,
            1.7138671875,
            -9.185791015625,
            -0.994873046875,
            -0.24169921875,
            -1.34033203125,
            -0.6646728515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.292330635567442,
            -9.772687216076825,
            -0.68421905952043,
            12.781254527401309,
            -2.130120834078375,
            5.549460127137529,
            1.8206434507865854
          ],
          "torque": [
            44.21630859375,
            -0.5126953125,
            7.965087890625,
            -0.96435546875,
            2.2265625,
            3.0780029296875,
            0.61431884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -15.9,
            -7.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -15.9,
            -7.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.1,
            -17.6,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.1,
            -17.6,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -286,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 955,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32028749706613097,
          -0.7065196048362866,
          -0.07236680248244728,
          -1.214965736811849,
          0.2806189491721763,
          -0.3770957588887158,
          0.029126720771723083
        ],
        "act_joint_pos_r": [
          -0.3301681401005667,
          -1.0276892892391434,
          0.12906239432934857,
          -0.5170289135901626,
          -0.03873455698611128,
          1.047450703706638,
          -0.22821252604752915
        ],
        "act_eef_pose_l": [
          558.0758875079823,
          262.6086907697836,
          44.99883144788788,
          1.8405626633366197,
          -0.07287761118128423,
          0.8024277850729145
        ],
        "act_eef_pose_r": [
          595.7870644042034,
          -230.25474812687867,
          51.43694334691986,
          1.6489792086899764,
          -0.03435591560850804,
          2.5860287908124424
        ],
        "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": [
          0.3233732926326898,
          -0.7003063144038392,
          -0.07275883204240095,
          -1.2185602545020118,
          0.23549711743832455,
          -0.37451621808637703,
          0.0709505473230262
        ],
        "joint_pos_r": [
          -0.3597124835092455,
          -0.9319100520963589,
          0.13536125199415824,
          -0.6369615354342238,
          -0.020862744062825164,
          1.014574327915436,
          -0.25226015385127487
        ],
        "eef_pose_l": [
          557.5875948125747,
          264.63581450158966,
          47.03056250382966,
          1.8263479069488808,
          -0.07236655195718121,
          0.8080955258354409
        ],
        "eef_pose_r": [
          577.9049344079992,
          -252.2018622481967,
          47.44878499356733,
          1.6461198564702961,
          -0.030106557317709642,
          2.5745404965211947
        ],
        "joint_status_l": {
          "velocity": [
            -0.3332560923254846,
            -0.6710155761577852,
            0.04233794378405431,
            0.3881964612943989,
            4.87301410538743,
            -0.2785821903099617,
            -4.516840050464488
          ],
          "torque": [
            -38.37158203125,
            1.4794921875,
            -7.843017578125,
            -0.494384765625,
            -0.2197265625,
            -1.3092041015625,
            -0.5859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.1906949836191245,
            -10.343852535797282,
            -0.6802565647046066,
            12.952341150276325,
            -1.9300988704915867,
            3.5505438677558843,
            2.5970672064017375
          ],
          "torque": [
            44.70703125,
            -2.490234375,
            7.5439453125,
            1.11083984375,
            2.4591064453125,
            2.369384765625,
            0.6134033203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.8,
            -16.0,
            -4.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.0,
            -4.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.2,
            -2.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.2,
            -2.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -192,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 957,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3202872868448563,
          -0.704730321046835,
          -0.0725970519385502,
          -1.2269891129283537,
          0.2785019790523078,
          -0.36990135670082747,
          0.030169685449715582
        ],
        "act_joint_pos_r": [
          -0.33218710856822575,
          -1.0483694189539188,
          0.12807800177447867,
          -0.4945619427750504,
          -0.05076085434692201,
          1.03888757327094,
          -0.2194196680114908
        ],
        "act_eef_pose_l": [
          556.6542875079824,
          260.23349076978366,
          46.20123144788778,
          1.8370448692211874,
          -0.0724503625254768,
          0.7999808994571365
        ],
        "act_eef_pose_r": [
          599.6070644042035,
          -225.74114812687867,
          45.65694334691989,
          1.663848622106349,
          -0.04083917516902174,
          2.5779590622752484
        ],
        "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": [
          0.32290486311813016,
          -0.7010714898872872,
          -0.07272222569029829,
          -1.2192105319223832,
          0.2421358249257648,
          -0.3741921870327584,
          0.06470563464835004
        ],
        "joint_pos_r": [
          -0.35427307828521815,
          -0.9515069528331441,
          0.13409955791531583,
          -0.6126699150363384,
          -0.025108296443579196,
          1.0201717652877667,
          -0.24708028009380495
        ],
        "eef_pose_l": [
          557.5173703252648,
          264.0836112083894,
          46.83831624775809,
          1.8281660248784795,
          -0.07238459128767796,
          0.8069512805498515
        ],
        "eef_pose_r": [
          581.7788428991528,
          -247.88047215812637,
          47.65139698225457,
          1.6475556544344963,
          -0.03140340371469952,
          2.5761248548500015
        ],
        "joint_status_l": {
          "velocity": [
            -0.2826899000210048,
            -0.3951421111372255,
            0.013518366485998357,
            -0.8400619723403224,
            3.927428812345646,
            0.4633960087141453,
            -3.7297725096925305
          ],
          "torque": [
            -40.24658203125,
            0.57861328125,
            -6.988525390625,
            -4.388427734375,
            -0.318603515625,
            0.4302978515625,
            -0.63812255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3852143812974624,
            -10.46083781512408,
            -0.6503088833752502,
            12.755284807203893,
            -2.7703945451415524,
            2.021247648669622,
            2.987258000424875
          ],
          "torque": [
            41.49169921875,
            -1.171875,
            7.31201171875,
            1.202392578125,
            2.4737548828125,
            2.373046875,
            0.98968505859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.8,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -15.8,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -15.9,
            -9.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -15.9,
            -9.1,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 1030,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32082799163410075,
          -0.7052826937198388,
          -0.07254276462122627,
          -1.2248324368390837,
          0.27213856819966037,
          -0.37279965961933575,
          0.03752959091172794
        ],
        "act_joint_pos_r": [
          -0.33486950254660064,
          -1.0579072031382326,
          0.12774773048254415,
          -0.4843802705559961,
          -0.05998019479039707,
          1.0368184520322228,
          -0.21292910227572842
        ],
        "act_eef_pose_l": [
          556.6790875079824,
          260.18389076978366,
          46.14363144788791,
          1.8356526373955928,
          -0.0729189031030079,
          0.7983637957935831
        ],
        "act_eef_pose_r": [
          600.5078644042035,
          -223.35154812687867,
          41.480143346919704,
          1.6740659933147606,
          -0.046047385094876186,
          2.5767340688584444
        ],
        "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": [
          0.32245648304022806,
          -0.701810585643705,
          -0.07269390069703825,
          -1.220495744177561,
          0.2484638494744921,
          -0.373629984234416,
          0.05880917148829923
        ],
        "joint_pos_r": [
          -0.3500623208322791,
          -0.9718036146478557,
          0.13286035313391553,
          -0.5880458190373546,
          -0.031058428721382147,
          1.0237575082848989,
          -0.2409607232235218
        ],
        "eef_pose_l": [
          557.3548312738207,
          263.34559117970764,
          46.708963007995976,
          1.829739606767485,
          -0.0724213890875105,
          0.8054669944228791
        ],
        "eef_pose_r": [
          585.6554206949093,
          -243.36493815188072,
          46.77869065411633,
          1.6515515696703131,
          -0.03376633978955468,
          2.576425879129573
        ],
        "joint_status_l": {
          "velocity": [
            -0.17587188479817328,
            -0.37497661287755335,
            0.016322214789754597,
            -0.4683489942287622,
            2.5567942137036948,
            0.08967241368251777,
            -2.298126922639254
          ],
          "torque": [
            -39.111328125,
            0.50537109375,
            -7.415771484375,
            -4.58984375,
            -0.216064453125,
            0.5804443359375,
            -0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.6407759827523627,
            -9.298913300172629,
            -0.5521469616439623,
            11.195549040917463,
            -3.12345861396604,
            1.4105403230475488,
            3.0273257761606054
          ],
          "torque": [
            44.0625,
            -0.380859375,
            6.9580078125,
            -0.30517578125,
            2.23388671875,
            2.5360107421875,
            0.91552734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.6,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.6,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 965,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3199786491577265,
          -0.7075994692802862,
          -0.0722915703835982,
          -1.2135366339457039,
          0.26556804677529083,
          -0.3816347679022952,
          0.04566927400897276
        ],
        "act_joint_pos_r": [
          -0.3401673121509278,
          -1.072789762309888,
          0.12733291765990198,
          -0.4788832240978024,
          -0.08069671939903332,
          1.0138150847896272,
          -0.19160690148509305
        ],
        "act_eef_pose_l": [
          557.9966875079824,
          261.6038907697837,
          46.08123144788789,
          1.8351041782617792,
          -0.07439282450773572,
          0.7979076955204385
        ],
        "act_eef_pose_r": [
          603.0094644042035,
          -218.23394812687866,
          33.11934334691978,
          1.6977993102026538,
          -0.061184147353489336,
          2.56551294270566
        ],
        "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": [
          0.3222386406091213,
          -0.702282562817801,
          -0.07267112272979989,
          -1.2208744602706199,
          0.25134977178881823,
          -0.3736565925621706,
          0.05624839879854065
        ],
        "joint_pos_r": [
          -0.34787254693890535,
          -0.9868234653528126,
          0.13199575712965503,
          -0.570684254141346,
          -0.037016864976805564,
          1.0245679457948653,
          -0.23511342696181786
        ],
        "eef_pose_l": [
          557.2891451964574,
          262.9660035447388,
          46.636273803214806,
          1.8304767528469077,
          -0.0725022557942531,
          0.8045562658531872
        ],
        "eef_pose_r": [
          588.3975576197855,
          -239.86491182598203,
          45.35140691877777,
          1.6565380177638538,
          -0.036719054092469006,
          2.575919609779576
        ],
        "joint_status_l": {
          "velocity": [
            -0.24407187823571874,
            -0.5742089625595526,
            0.04099044444128008,
            0.7924618706773856,
            1.5355284105493805,
            -0.861617524682945,
            -1.1425117806895813
          ],
          "torque": [
            -39.7119140625,
            0.90087890625,
            -7.01904296875,
            -4.730224609375,
            -0.3515625,
            0.5438232421875,
            -0.56671142578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8321408144205122,
            -9.284086251876822,
            -0.5035718106767284,
            9.914218840448186,
            -4.717285148712169,
            -1.1612747385987277,
            4.69856617468456
          ],
          "torque": [
            46.01806640625,
            -1.259765625,
            7.135009765625,
            0.799560546875,
            1.512451171875,
            0.3057861328125,
            0.791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.2,
            -7.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.2,
            -7.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -15.9,
            -1.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -15.9,
            -1.9,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 980,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32014256671609775,
          -0.7082763096574672,
          -0.07220087906393242,
          -1.2085926025919418,
          0.2556427009945587,
          -0.3835929444298411,
          0.054226219782697385
        ],
        "act_joint_pos_r": [
          -0.3454185768990734,
          -1.086125445514261,
          0.12689083271246301,
          -0.47059479842250906,
          -0.08577332684769834,
          1.0043643479161908,
          -0.17831534715436123
        ],
        "act_eef_pose_l": [
          558.8262875079823,
          262.59989076978366,
          46.303631447887994,
          1.8325494927143247,
          -0.07379544105946821,
          0.8003840408264459
        ],
        "act_eef_pose_r": [
          604.3598644042034,
          -213.64674812687866,
          27.86334334691969,
          1.7064087267867303,
          -0.07690870599841562,
          2.5603248267127725
        ],
        "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": [
          0.3218438890027547,
          -0.7032425964088276,
          -0.0726013402229998,
          -1.2194312728155792,
          0.2535709867284785,
          -0.37512494710092725,
          0.054630262482806224
        ],
        "joint_pos_r": [
          -0.34679459723148703,
          -1.0040358091044124,
          0.1310824324784419,
          -0.5527328455831526,
          -0.04564000934435961,
          1.0218538417052967,
          -0.2259307361574719
        ],
        "eef_pose_l": [
          557.4395628059104,
          262.75328312066875,
          46.5466017304941,
          1.8312057636504226,
          -0.07282299347989117,
          0.8034504962575133
        ],
        "eef_pose_r": [
          591.4385722401389,
          -235.52740167117787,
          42.59028661693043,
          1.6648878918796668,
          -0.042637293112408284,
          2.573796913875155
        ],
        "joint_status_l": {
          "velocity": [
            -0.18373738791455096,
            -0.5436249974906104,
            0.043248529632111676,
            1.1705418608674023,
            0.22373854192081488,
            -0.9145167392934361,
            -0.043635324656676744
          ],
          "torque": [
            -39.6826171875,
            0.85693359375,
            -6.396484375,
            -0.469970703125,
            -0.3314208984375,
            -0.9521484375,
            -0.6170654296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.14860581300668585,
            -8.865419260698282,
            -0.4526794236597853,
            8.870647467587478,
            -4.334270457886536,
            -1.8888096217617445,
            5.142310347999501
          ],
          "torque": [
            45.52001953125,
            -0.5712890625,
            7.080078125,
            -0.57373046875,
            2.2430419921875,
            0.4119873046875,
            0.9320068359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.9,
            -7.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -15.9,
            -7.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -16.1,
            -3.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.1,
            -3.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 955,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32097577603304955,
          -0.7079765188921047,
          -0.07221841180152157,
          -1.2086241496464207,
          0.2506589276812581,
          -0.3828558623743669,
          0.0580628809654683
        ],
        "act_joint_pos_r": [
          -0.34935133901220805,
          -1.091027952574975,
          0.12702236358510985,
          -0.4829759565473026,
          -0.0867871037923722,
          0.9920013698952551,
          -0.17007839859086796
        ],
        "act_eef_pose_l": [
          558.8358875079824,
          262.80069076978367,
          46.219631447887934,
          1.8312984377529706,
          -0.07273879000527605,
          0.8016119406712656
        ],
        "act_eef_pose_r": [
          603.6526644042035,
          -207.68754812687865,
          25.800143346919867,
          1.7073878057781169,
          -0.0878520471962213,
          2.5639399491939545
        ],
        "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": [
          0.32159383690464005,
          -0.7041684070709332,
          -0.07252714402943149,
          -1.217385071701438,
          0.25353458189239164,
          -0.37666240765637166,
          0.05488339837042944
        ],
        "joint_pos_r": [
          -0.347046918701191,
          -1.0191677693036771,
          0.1303578981474632,
          -0.5397704431127689,
          -0.052863675190013185,
          1.0172035484564161,
          -0.21647390068196365
        ],
        "eef_pose_l": [
          557.7034263809094,
          262.7416867467569,
          46.492778607850425,
          1.8313526666501532,
          -0.07291653765389877,
          0.8029760729266789
        ],
        "eef_pose_r": [
          593.7980780717236,
          -230.97702155539397,
          39.67081011852383,
          1.6723204616969918,
          -0.05027541496120582,
          2.5721055462303077
        ],
        "joint_status_l": {
          "velocity": [
            -0.06674860548727679,
            -0.41126394710389036,
            0.03334209724170645,
            0.946151676689766,
            -0.31056149528074783,
            -0.6688733821773596,
            0.3433739929895596
          ],
          "torque": [
            -40.458984375,
            -0.44677734375,
            -7.147216796875,
            0.091552734375,
            -2.4444580078125,
            -0.970458984375,
            0.164794921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2488700535598909,
            -7.76067090454724,
            -0.36022710840355465,
            6.133623647511133,
            -3.6636222362927406,
            -2.721755010732352,
            5.010566447080311
          ],
          "torque": [
            36.13037109375,
            -0.30029296875,
            6.719970703125,
            -1.336669921875,
            2.288818359375,
            0.5401611328125,
            0.95672607421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.0,
            -5.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.0,
            -5.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.0,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.0,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 978,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3223267171735142,
          -0.7061255062284687,
          -0.07237118251738747,
          -1.2131567303837367,
          0.24736623399855276,
          -0.3761215067191625,
          0.06144077678300778
        ],
        "act_joint_pos_r": [
          -0.34756715805541244,
          -1.0897376760803803,
          0.1274381094741556,
          -0.5040716002603788,
          -0.09472594101831877,
          0.9797224607889436,
          -0.16462040827462482
        ],
        "act_eef_pose_l": [
          558.6278875079823,
          263.15749076978364,
          46.138031447887954,
          1.8302578584097267,
          -0.07358049876429744,
          0.8055152312110516
        ],
        "act_eef_pose_r": [
          602.4366644042035,
          -202.66034812687866,
          26.895343346919844,
          1.7095895769916891,
          -0.08693501526312335,
          2.5722395891029937
        ],
        "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": [
          0.3215744057011948,
          -0.7047548201567305,
          -0.07247979722659467,
          -1.2160557395828258,
          0.252753567647993,
          -0.3773476414275308,
          0.055727990667958555
        ],
        "joint_pos_r": [
          -0.34735706505341524,
          -1.033506892490718,
          0.12972288190184136,
          -0.5301617928320614,
          -0.06036697087277609,
          1.0110812066183548,
          -0.2066757390951984
        ],
        "eef_pose_l": [
          557.9028678556833,
          262.77856616123995,
          46.43478693235272,
          1.8312687242758363,
          -0.07294302011547889,
          0.8029990519979857
        ],
        "eef_pose_r": [
          595.8069310488752,
          -225.91138538386153,
          36.92157903601881,
          1.6795751296053905,
          -0.05795777055127685,
          2.571383068465851
        ],
        "joint_status_l": {
          "velocity": [
            0.08124724275138107,
            -0.14802972984373497,
            0.011730042635327287,
            0.31308375958971624,
            -0.5818148744272111,
            0.1324186430249341,
            0.6169627040830128
          ],
          "torque": [
            -33.62548828125,
            0.00732421875,
            -6.829833984375,
            0.006103515625,
            -2.750244140625,
            0.4229736328125,
            0.5255126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.022689375028139835,
            -6.072745521628065,
            -0.24674814474257012,
            2.817657695370457,
            -3.7106593356714956,
            -3.3866446658317173,
            4.541841774159394
          ],
          "torque": [
            35.76416015625,
            -2.27783203125,
            6.8359375,
            -1.5625,
            2.3236083984375,
            0.6317138671875,
            0.83587646484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -15.6,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -15.6,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.3,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.3,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 942,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3225603725249859,
          -0.7045822515107781,
          -0.07246518611514231,
          -1.2137969214914799,
          0.24578019243466287,
          -0.37653185570741393,
          0.06253512576525773
        ],
        "act_joint_pos_r": [
          -0.34191825677036297,
          -1.0965157265090946,
          0.1272349295615903,
          -0.5017522125329966,
          -0.09442305750428215,
          0.9927496995762988,
          -0.16827701599093886
        ],
        "act_eef_pose_l": [
          558.3806875079824,
          263.73989076978364,
          46.22363144788807,
          1.8299478339887552,
          -0.07321472951105176,
          0.8060969989725056
        ],
        "act_eef_pose_r": [
          601.5766644042035,
          -197.75234812687867,
          30.797743346919788,
          1.7019985171468033,
          -0.08149423139373478,
          2.590014545078128
        ],
        "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": [
          0.32170742069417224,
          -0.7049971689775502,
          -0.07246059323288453,
          -1.2155431703844994,
          0.2518010417675385,
          -0.3771308505029949,
          0.05673805928040653
        ],
        "joint_pos_r": [
          -0.3473779619964691,
          -1.0390998987850182,
          0.12949562654893107,
          -0.5275667265363863,
          -0.06378449280688303,
          1.0079621026043477,
          -0.20249269708559722
        ],
        "eef_pose_l": [
          558.0311421225322,
          262.8453388117743,
          46.382491698078724,
          1.8310890216650115,
          -0.073055455386427,
          0.8034431489183362
        ],
        "eef_pose_r": [
          596.5143877186474,
          -223.61349062572003,
          35.89916102805685,
          1.6825844038762179,
          -0.06093488105562444,
          2.571551485065303
        ],
        "joint_status_l": {
          "velocity": [
            0.0668820471885212,
            -0.1218568291232458,
            0.00965607248304412,
            0.2577279188038517,
            -0.47894511331958434,
            0.10900591369633617,
            0.5078785112048734
          ],
          "torque": [
            -30.6298828125,
            0.1171875,
            -6.658935546875,
            -0.52490234375,
            -2.96630859375,
            0.487060546875,
            0.5291748046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.020432571739004146,
            -5.46871865666354,
            -0.22220529048100346,
            2.537398801231827,
            -3.34157785226441,
            -3.049791367275567,
            4.0900865609303505
          ],
          "torque": [
            35.6103515625,
            0.38818359375,
            6.817626953125,
            -0.96435546875,
            2.0965576171875,
            0.5126953125,
            0.91827392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.0,
            -7.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -7.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.3,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.3,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 984,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3227634543605653,
          -0.7039278293571307,
          -0.07250758142143834,
          -1.2142970456897249,
          0.24352565616607644,
          -0.3763070739429446,
          0.06506242931193586
        ],
        "act_joint_pos_r": [
          -0.3391693351283252,
          -1.09978815833452,
          0.12714809707322283,
          -0.502004709210783,
          -0.08970515251266199,
          1.0005810585217239,
          -0.17158003433983407
        ],
        "act_eef_pose_l": [
          558.2886875079824,
          263.9398907697837,
          46.33483144788789,
          1.8292645882944227,
          -0.07363583236028727,
          0.8063922746913401
        ],
        "act_eef_pose_r": [
          600.8774644042035,
          -194.79474812687866,
          33.64494334691972,
          1.6938358665911346,
          -0.07987709890705763,
          2.60066374514817
        ],
        "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": [
          0.3218705583249507,
          -0.7048551116375988,
          -0.07246613228736568,
          -1.215312530636978,
          0.2505568339787399,
          -0.3770070135431913,
          0.057976258042410383
        ],
        "joint_pos_r": [
          -0.3463900953643592,
          -1.0492763209196445,
          0.129096139559577,
          -0.5231118704733497,
          -0.06880789738154036,
          1.0054525486847583,
          -0.19658852675064162
        ],
        "eef_pose_l": [
          558.0782387179022,
          263.01458269597606,
          46.36899687351189,
          1.8308235012874756,
          -0.0731286209201013,
          0.8039113248998853
        ],
        "eef_pose_r": [
          597.4663698760098,
          -218.99655175505907,
          35.05443961459139,
          1.6856000597503207,
          -0.0647266688308479,
          2.575121649887356
        ],
        "joint_status_l": {
          "velocity": [
            0.09642992779745896,
            0.10014353271525778,
            -0.00447637445621929,
            0.10966913978549542,
            -0.7593448080895904,
            0.07559124738198975,
            0.7652839262658473
          ],
          "torque": [
            -28.740234375,
            5.95458984375,
            -6.53076171875,
            -0.494384765625,
            -3.138427734375,
            0.4302978515625,
            0.63446044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7798191059569248,
            -5.455117550714483,
            -0.2103823836295815,
            2.2795061859159915,
            -2.25683699231205,
            -0.5261054209588778,
            2.700837523422539
          ],
          "torque": [
            45.27099609375,
            -0.46875,
            6.99462890625,
            -1.4892578125,
            2.2650146484375,
            0.6427001953125,
            0.65643310546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -15.7,
            -7.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -15.7,
            -7.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.0,
            -17.2,
            -1.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.0,
            -17.2,
            -1.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 1047,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32192842377611086,
          -0.7029421722618249,
          -0.07249929551381294,
          -1.2084149163650526,
          0.24176934566450842,
          -0.3825695406628384,
          0.06649355148909887
        ],
        "act_joint_pos_r": [
          -0.3366991904880003,
          -1.0962764913662253,
          0.12758402306221314,
          -0.5241200985390785,
          -0.08451132521407434,
          0.9901423845536262,
          -0.17470751610127583
        ],
        "act_eef_pose_l": [
          558.7238875079823,
          265.74149076978364,
          46.49883144788788,
          1.8295372027278538,
          -0.07358571398062862,
          0.8069626039199556
        ],
        "act_eef_pose_r": [
          599.8278644042035,
          -190.73634812687865,
          37.46974334691981,
          1.6850017019280477,
          -0.07651617556583687,
          2.6079481147006325
        ],
        "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": [
          0.32193428978257904,
          -0.7046046321723493,
          -0.07247212217221896,
          -1.214560522461276,
          0.24922624935728402,
          -0.37751484425963644,
          0.05928353840906149
        ],
        "joint_pos_r": [
          -0.34486771081216805,
          -1.0578579497596274,
          0.1287950687377335,
          -0.5215796585994528,
          -0.07198610268598359,
          1.0035529434460118,
          -0.1924778906540975
        ],
        "eef_pose_l": [
          558.1566010706218,
          263.34544949529715,
          46.378669427624146,
          1.8305981626352175,
          -0.07320519807927788,
          0.8043743427594361
        ],
        "eef_pose_r": [
          598.0439499125406,
          -214.32635779093317,
          35.15185798554947,
          1.6861639960108037,
          -0.06713760730678754,
          2.5803725914350317
        ],
        "joint_status_l": {
          "velocity": [
            -0.0006335100146692696,
            0.17954037507639242,
            -0.002934634339646358,
            0.6637058834346732,
            -0.8053218471215651,
            -0.5458911113480625,
            0.7786584473406521
          ],
          "torque": [
            -30.47607421875,
            6.8408203125,
            -6.67724609375,
            -0.1220703125,
            -3.1292724609375,
            -0.809326171875,
            0.65460205078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.882174176673356,
            -4.149080122934912,
            -0.13078907553876196,
            -0.27435942168052563,
            -1.352684137747695,
            -1.4482976451217766,
            1.919143849582472
          ],
          "torque": [
            48.74267578125,
            -1.3623046875,
            7.09228515625,
            -3.5888671875,
            2.60009765625,
            0.274658203125,
            0.677490234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.0,
            -6.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -6.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.3,
            -0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.3,
            -0.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 984,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3237420175685274,
          -0.7015881636266322,
          -0.07263724022163251,
          -1.2140223629365563,
          0.2422778032300657,
          -0.3757581701182097,
          0.06591246401858468
        ],
        "act_joint_pos_r": [
          -0.3347223464470197,
          -1.1010257551496363,
          0.12754004503509692,
          -0.5314058672350792,
          -0.08411996826776402,
          0.988195666799776,
          -0.17653572707529064
        ],
        "act_eef_pose_l": [
          558.1958875079824,
          265.47429076978364,
          45.941231447888015,
          1.8299541499323906,
          -0.07339991754054576,
          0.8094562954636451
        ],
        "act_eef_pose_r": [
          599.1286644042035,
          -185.54434812687867,
          39.30734334691965,
          1.6807052559425362,
          -0.07405317774292054,
          2.6179544878321477
        ],
        "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": [
          0.3221379036672037,
          -0.7041579051267043,
          -0.07249249271775032,
          -1.2141066877401645,
          0.24796518188155722,
          -0.37763994279557483,
          0.06049275778531793
        ],
        "joint_pos_r": [
          -0.34372342587580984,
          -1.0629754990223657,
          0.12863989512905724,
          -0.5223231836558209,
          -0.07354181106224854,
          1.0017497984426371,
          -0.19034467449455997
        ],
        "eef_pose_l": [
          558.197892348459,
          263.73849411099593,
          46.33653848616288,
          1.83045831350079,
          -0.07325007508528339,
          0.805112217969255
        ],
        "eef_pose_r": [
          598.2855916063411,
          -211.0541995968386,
          35.527798044525696,
          1.6857597881881339,
          -0.06822814324096647,
          2.5844266668198457
        ],
        "joint_status_l": {
          "velocity": [
            0.17323919192602233,
            0.27752389687751844,
            -0.01563226937006945,
            0.009106810198389326,
            -0.6142187789466291,
            0.20322545534101621,
            0.5853110103672954
          ],
          "torque": [
            -27.3193359375,
            6.5771484375,
            -6.756591796875,
            -2.166748046875,
            -3.2757568359375,
            0.4193115234375,
            0.6298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9720879081087652,
            -4.109306464228801,
            -0.11878030690992691,
            -0.9809008964341004,
            -1.142407284693836,
            -1.4638030448663741,
            1.4913223370800477
          ],
          "torque": [
            46.6845703125,
            -1.0546875,
            6.689453125,
            -4.718017578125,
            2.3931884765625,
            -0.025634765625,
            0.706787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.1,
            -5.1,
            1.3,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.6,
            -16.1,
            -5.1,
            1.3,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.0,
            -17.5,
            -0.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.0,
            -17.5,
            -0.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 978,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32508840954658696,
          -0.696553581169776,
          -0.07310266176733925,
          -1.2301172850570643,
          0.24947878946842938,
          -0.3651163003206605,
          0.058015373456356586
        ],
        "act_joint_pos_r": [
          -0.33292295983845444,
          -1.114944800460863,
          0.12705324892566694,
          -0.5278024337019291,
          -0.08576566756018389,
          0.9851860171170929,
          -0.176518599994704
        ],
        "act_eef_pose_l": [
          555.9950875079824,
          264.1278907697837,
          46.13243144788777,
          1.830587260845752,
          -0.07264383988198371,
          0.8094005124028879
        ],
        "act_eef_pose_r": [
          599.8910644042035,
          -178.31074812687865,
          39.704143346919864,
          1.6794319436597178,
          -0.07342298051328955,
          2.6254344612488145
        ],
        "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": [
          0.3225734551628126,
          -0.7031354367270664,
          -0.07257060477457616,
          -1.2159079748590917,
          0.2477721851400598,
          -0.37610637093286936,
          0.06055987741572796
        ],
        "joint_pos_r": [
          -0.34202739739149496,
          -1.070511936927205,
          0.12841714476865318,
          -0.5237196837219256,
          -0.07550774941902426,
          0.9991784239221266,
          -0.18790214124824434
        ],
        "eef_pose_l": [
          557.950580458623,
          263.89371527489345,
          46.28673842164099,
          1.8304422688212674,
          -0.07319062356459759,
          0.8058735402598955
        ],
        "eef_pose_r": [
          598.5676808900589,
          -206.12555864671444,
          36.18528859659759,
          1.6847779710789859,
          -0.0692963092535799,
          2.5907829359841945
        ],
        "joint_status_l": {
          "velocity": [
            0.2716070628254741,
            0.7108194356888475,
            -0.05746046051269271,
            -1.5345602419465365,
            0.1843078315948432,
            1.1868926205922392,
            -0.2747983228688633
          ],
          "torque": [
            -27.1728515625,
            8.62060546875,
            -13.037109375,
            -4.4921875,
            -1.2725830078125,
            0.758056640625,
            -0.22247314453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9832502563127399,
            -4.79860773426477,
            -0.14729640676724998,
            -0.44092399348194533,
            -1.1078224857674623,
            -1.511135366389027,
            1.2293861965748665
          ],
          "torque": [
            48.06884765625,
            -3.61083984375,
            6.414794921875,
            -4.0771484375,
            2.2833251953125,
            0.2691650390625,
            0.7489013671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.5,
            -5.0,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -15.5,
            -5.0,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.5,
            0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.5,
            0.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 965,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32561336507868205,
          -0.696157079769444,
          -0.07312691109416264,
          -1.2301577663844756,
          0.24406976171567954,
          -0.36421643809375287,
          0.06200928752648108
        ],
        "act_joint_pos_r": [
          -0.32550821690700893,
          -1.145869597519382,
          0.1255039359384606,
          -0.4757539210260625,
          -0.08342070302482396,
          1.0088044927456035,
          -0.177792587842791
        ],
        "act_eef_pose_l": [
          556.0782875079824,
          264.40629076978365,
          46.239631447887916,
          1.8290620645117062,
          -0.07160556919214127,
          0.8109652710896548
        ],
        "act_eef_pose_r": [
          604.6894644042035,
          -173.65634812687867,
          41.20094334691976,
          1.6759577526926894,
          -0.07250949522980103,
          2.6279055396496704
        ],
        "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": [
          0.32304613939890836,
          -0.7020086680316823,
          -0.07266080882534272,
          -1.2182484872151769,
          0.24744237296956711,
          -0.374198111584163,
          0.060592257371323247
        ],
        "joint_pos_r": [
          -0.33998678717198433,
          -1.0801650740616435,
          0.12808596627242466,
          -0.5214170203490087,
          -0.07718517019902985,
          0.9980769133112122,
          -0.1859634666135919
        ],
        "eef_pose_l": [
          557.6400708901415,
          263.9637882894155,
          46.27277086714167,
          1.8302908640078033,
          -0.07298513177694173,
          0.8066296424850571
        ],
        "eef_pose_r": [
          599.1854541684407,
          -200.95519132409024,
          36.85255579183831,
          1.6835971248241823,
          -0.07004543589657669,
          2.5970415517730783
        ],
        "joint_status_l": {
          "velocity": [
            0.2772521962990382,
            0.6319528938680818,
            -0.050337560405511184,
            -1.2861642168982002,
            -0.3642312729927877,
            1.0779889433800705,
            0.15303474323852262
          ],
          "torque": [
            -26.71142578125,
            8.35693359375,
            -9.625244140625,
            -5.17578125,
            -2.9278564453125,
            0.999755859375,
            0.4412841796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.563639471536149,
            -7.095879251663106,
            -0.2788510517960363,
            4.9314692809665495,
            -0.6734176837928096,
            1.158544409472384,
            0.8824288813980008
          ],
          "torque": [
            49.21142578125,
            -7.34619140625,
            6.8359375,
            4.23583984375,
            2.5799560546875,
            2.1734619140625,
            0.7122802734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.7,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.7,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.0,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.0,
            0.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 931,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32522612243936777,
          -0.6967634528689861,
          -0.07306527003084572,
          -1.227676568704341,
          0.243372825019691,
          -0.3667785450673044,
          0.06196071784597612
        ],
        "act_joint_pos_r": [
          -0.32224521239053905,
          -1.1560092461694913,
          0.12501637331036278,
          -0.4563920779578076,
          -0.07851927491393383,
          1.0199461914572057,
          -0.18221211170107227
        ],
        "act_eef_pose_l": [
          556.3134875079824,
          264.5806907697837,
          46.283631447887785,
          1.8290019469608054,
          -0.07079869782937039,
          0.8104695282601198
        ],
        "act_eef_pose_r": [
          606.3326644042036,
          -172.54594812687867,
          42.90254334691963,
          1.6707862186227922,
          -0.06982841968073425,
          2.6293929448717557
        ],
        "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": [
          0.32332441271792867,
          -0.7013662400607169,
          -0.07271158734396767,
          -1.2195191940897419,
          0.24704124552972673,
          -0.37314730716858424,
          0.060750726748755896
        ],
        "joint_pos_r": [
          -0.33684010868819336,
          -1.0941082948871974,
          0.1275316069296458,
          -0.5108388747515462,
          -0.07808563511720736,
          1.0010373948380769,
          -0.18463908827445305
        ],
        "eef_pose_l": [
          557.4715559375259,
          264.0188829108146,
          46.270273659908526,
          1.8301473190406639,
          -0.07280690110125103,
          0.8071041203270254
        ],
        "eef_pose_r": [
          600.5354280197079,
          -195.42924398248707,
          37.79629253078889,
          1.6816189269476907,
          -0.0704193700848314,
          2.6033336558739086
        ],
        "joint_status_l": {
          "velocity": [
            0.2053785925975049,
            0.4970863559288219,
            -0.03819660363424404,
            -0.8809704755421421,
            -0.3961777304464231,
            0.687806021184123,
            0.13067518444120907
          ],
          "torque": [
            -26.47705078125,
            9.4775390625,
            -11.407470703125,
            -4.437255859375,
            -3.0908203125,
            1.2689208984375,
            0.48248291015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5762023125445168,
            -6.685105571837546,
            -0.2716372193710681,
            5.8800806300158825,
            -0.04683171681874043,
            2.042089806645997,
            0.2621057395295612
          ],
          "torque": [
            48.61083984375,
            -0.85693359375,
            6.280517578125,
            -0.146484375,
            3.2958984375,
            2.20458984375,
            0.6170654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -15.9,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -15.9,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.2,
            -1.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.2,
            -1.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 978,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32370398870493794,
          -0.70197873297758,
          -0.07256733682819062,
          -1.2094900380005673,
          0.23465502601371702,
          -0.37901110405326777,
          0.07094139533856676
        ],
        "act_joint_pos_r": [
          -0.31818217608826854,
          -1.1573204870224378,
          0.12519868232113543,
          -0.4717146854301074,
          -0.06910193774266782,
          1.0080777781163248,
          -0.18867032571558737
        ],
        "act_eef_pose_l": [
          558.7630875079824,
          266.34229076978363,
          46.148431447887845,
          1.8280437674484933,
          -0.07128462674135479,
          0.8109361541829244
        ],
        "act_eef_pose_r": [
          606.8166644042035,
          -167.92994812687866,
          47.73534334691976,
          1.6590556966238998,
          -0.06423260558088484,
          2.6327482964317936
        ],
        "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": [
          0.3236390190800357,
          -0.7006499397345118,
          -0.07276376257815478,
          -1.2205249247662946,
          0.24609069263027866,
          -0.3723041096525926,
          0.06124429754437314
        ],
        "joint_pos_r": [
          -0.334023506156797,
          -1.1051290993986234,
          0.1270974864176861,
          -0.5021026167743463,
          -0.07761506683843578,
          1.0036909580960796,
          -0.1845852638420595
        ],
        "eef_pose_l": [
          557.3255690242161,
          264.17691343702745,
          46.26834238392382,
          1.8299017326178697,
          -0.07244165700659719,
          0.8077534108864629
        ],
        "eef_pose_r": [
          601.6828625713922,
          -191.14551634326432,
          38.9389936895266,
          1.6789690744094183,
          -0.07004948190676061,
          2.6081237690214385
        ],
        "joint_status_l": {
          "velocity": [
            0.007016512548307929,
            -0.14350543778451907,
            0.02121335534177593,
            1.191732622423558,
            -1.2350155697515852,
            -0.7243340321827496,
            1.0472556746177752
          ],
          "torque": [
            -25.166015625,
            9.23583984375,
            -12.21923828125,
            -4.7607421875,
            -3.0157470703125,
            0.8935546875,
            0.5419921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7108131896632628,
            -5.6365036235837,
            -0.20506479436466218,
            3.2817997936667176,
            0.9193908263599448,
            0.47376258930587056,
            -0.4411736706191327
          ],
          "torque": [
            47.6220703125,
            -0.02197265625,
            6.280517578125,
            -2.557373046875,
            4.6380615234375,
            1.8292236328125,
            0.750732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -15.7,
            -7.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -15.7,
            -7.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.2,
            -18.0,
            -0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.2,
            -18.0,
            -0.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 933,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32813681060610606,
          -0.693045578315653,
          -0.07349884409560115,
          -1.2473779450413203,
          0.24709214370000462,
          -0.3481147880508963,
          0.058051692734523215
        ],
        "act_joint_pos_r": [
          -0.3131353688601286,
          -1.1728195430794683,
          0.12451520190424484,
          -0.44479951361356884,
          -0.059861063910888745,
          1.0226610436262453,
          -0.19225542121425143
        ],
        "act_eef_pose_l": [
          554.2782875079823,
          262.28869076978367,
          46.13723144788793,
          1.8283607323288715,
          -0.07084421911512591,
          0.8133325010714975
        ],
        "act_eef_pose_r": [
          609.3166644042035,
          -165.60754812687867,
          50.85374334691983,
          1.6494168933111688,
          -0.06373653948910336,
          2.6344807572840576
        ],
        "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": [
          0.32378122890704386,
          -0.7006214453728195,
          -0.0727565027373379,
          -1.2196911675676398,
          0.24443553767948747,
          -0.3725788391183609,
          0.06257871231135495
        ],
        "joint_pos_r": [
          -0.33119767604378025,
          -1.1143896346059343,
          0.1267553224182238,
          -0.4959252225919477,
          -0.07580981060151222,
          1.005052435870972,
          -0.18541423915664051
        ],
        "eef_pose_l": [
          557.4494222780214,
          264.43931771909155,
          46.24334726250308,
          1.8295940912925464,
          -0.07222097202311195,
          0.808384022083594
        ],
        "eef_pose_r": [
          602.719010407414,
          -187.24752917928762,
          40.485497233336304,
          1.6752289903551232,
          -0.06913538065535875,
          2.612243822438533
        ],
        "joint_status_l": {
          "velocity": [
            0.4703889501178615,
            0.8181695115547782,
            -0.08017050218978028,
            -2.990083779350172,
            0.2869049884053343,
            2.6420395924939832,
            -0.4889036948541592
          ],
          "torque": [
            -28.7255859375,
            3.43505859375,
            -12.60986328125,
            -0.274658203125,
            -2.98095703125,
            -0.706787109375,
            0.6134033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9506716438493221,
            -6.310244004443355,
            -0.24192588028737472,
            5.521413724272062,
            1.7224138427065494,
            1.9016735507051408,
            -0.7388258717175855
          ],
          "torque": [
            48.56689453125,
            -1.845703125,
            6.304931640625,
            -0.9521484375,
            5.1983642578125,
            2.222900390625,
            -0.501708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -15.9,
            -7.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -15.9,
            -7.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.3,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.3,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -194,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 908,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3271250182234721,
          -0.6976894179100938,
          -0.07318699451898894,
          -1.243844419286191,
          0.24896994788413687,
          -0.34379521884659964,
          0.05408262688224246
        ],
        "act_joint_pos_r": [
          -0.31812669680155015,
          -1.1432696194115468,
          0.12646012831155595,
          -0.5446644489504153,
          -0.059644302826995954,
          0.9540294079174607,
          -0.19360241743726886
        ],
        "act_eef_pose_l": [
          555.8590875079824,
          261.56549076978365,
          46.14443144788794,
          1.8282172247144086,
          -0.06995709366736744,
          0.8170293477351768
        ],
        "act_eef_pose_r": [
          604.2614644042035,
          -158.30594812687866,
          53.11854334691975,
          1.6468015244809842,
          -0.05992089759865884,
          2.635571321243305
        ],
        "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": [
          0.3245601707485608,
          -0.6993932218885595,
          -0.07288314045168408,
          -1.2247698491800867,
          0.24502018315898752,
          -0.36776456775322913,
          0.06154866863698724
        ],
        "joint_pos_r": [
          -0.32814311372477123,
          -1.123304452667952,
          0.12647208917426359,
          -0.49346100435737744,
          -0.07277927725924581,
          1.003432654707567,
          -0.18680459701310287
        ],
        "eef_pose_l": [
          556.9262623303578,
          263.9994376217343,
          46.216809853390714,
          1.8293690097636193,
          -0.07192541073406754,
          0.8094797476540255
        ],
        "eef_pose_r": [
          603.7187565389306,
          -182.64126673734012,
          42.56862211351026,
          1.6701041445884584,
          -0.06786234179062448,
          2.61652901525063
        ],
        "joint_status_l": {
          "velocity": [
            0.2769953577490547,
            0.18400540272534016,
            -0.03281527143417229,
            -2.059992815217626,
            0.42656200954205303,
            2.5886133348467233,
            -0.8063087287076831
          ],
          "torque": [
            -25.341796875,
            9.2724609375,
            -18.64013671875,
            -5.133056640625,
            -0.9722900390625,
            1.1846923828125,
            -0.36895751953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0817411234591567,
            -2.1561744153419937,
            -0.0012917350747931877,
            -5.529808923051771,
            1.4185354012178353,
            -5.335393294317647,
            -0.734142953420891
          ],
          "torque": [
            47.86376953125,
            -4.31396484375,
            10.089111328125,
            -5.841064453125,
            5.3851318359375,
            1.19384765625,
            -0.6353759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.1,
            -7.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.1,
            -7.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.1,
            -3.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.1,
            -3.4,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 959,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3263030572682329,
          -0.7018735952730646,
          -0.07279010889099807,
          -1.2293693472186977,
          0.24101751798686477,
          -0.3577172887192723,
          0.06335324733040272
        ],
        "act_joint_pos_r": [
          -0.3085388005971738,
          -1.1640897695685795,
          0.1253884944967932,
          -0.5013221656227443,
          -0.066175980223659,
          0.9896332551782953,
          -0.19176093447423348
        ],
        "act_eef_pose_l": [
          557.2094875079823,
          262.29829076978365,
          45.81883144788782,
          1.8276572821112804,
          -0.07010989256338548,
          0.812996991094814
        ],
        "act_eef_pose_r": [
          606.0494644042035,
          -155.83154812687866,
          55.91934334691996,
          1.6462121630352926,
          -0.05443450280576161,
          2.64999475037357
        ],
        "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": [
          0.32498941795107567,
          -0.6992153652160609,
          -0.07292516036152609,
          -1.2277155277956462,
          0.24548401988284985,
          -0.3639371432187062,
          0.06050199763565896
        ],
        "joint_pos_r": [
          -0.32648024077889115,
          -1.1266443542818643,
          0.12645435424421386,
          -0.500589577563204,
          -0.07088248202440996,
          0.9964623867019891,
          -0.18780911716271234
        ],
        "eef_pose_l": [
          556.7813205313855,
          263.5891526756332,
          46.19024499183513,
          1.8291614621223455,
          -0.07158405043170507,
          0.8106942125926663
        ],
        "eef_pose_r": [
          603.9219504931117,
          -178.9021452124508,
          44.19342371570707,
          1.6665015305500797,
          -0.06652697479104824,
          2.6196427909490194
        ],
        "joint_status_l": {
          "velocity": [
            0.1418688620544728,
            -0.2870803791727994,
            0.014585128651711798,
            -0.17860722994988976,
            -0.4823679780834311,
            0.6717244744844919,
            0.30792588524375386
          ],
          "torque": [
            -25.11474609375,
            8.41552734375,
            -14.74609375,
            -5.621337890625,
            -0.5987548828125,
            1.2030029296875,
            -0.42205810546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9376183926258506,
            -4.043985579984977,
            -0.1151094577495071,
            -0.07911717699382592,
            0.5082872033513874,
            -0.737524452438798,
            -0.42678368233239894
          ],
          "torque": [
            48.92578125,
            -2.431640625,
            10.70556640625,
            -6.0302734375,
            5.6195068359375,
            0.56396484375,
            -0.6390380859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.7,
            -6.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -15.7,
            -6.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.3,
            -0.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.3,
            -0.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 965,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3258608584039902,
          -0.7005582176349138,
          -0.07287412561466783,
          -1.2301643138643383,
          0.2395722942522631,
          -0.36076870652067444,
          0.0646100930064124
        ],
        "act_joint_pos_r": [
          -0.3047656661165723,
          -1.1734588069355856,
          0.12492813146348622,
          -0.48317274981897373,
          -0.07176926164875662,
          1.0034161598292959,
          -0.18862325832929067
        ],
        "act_eef_pose_l": [
          556.6910875079824,
          262.29669076978365,
          46.267631447887936,
          1.8268704658977408,
          -0.0697409123974664,
          0.8106185979979632
        ],
        "act_eef_pose_r": [
          606.7054644042034,
          -154.46754812687865,
          56.44414334691987,
          1.6486531556951065,
          -0.05329294943586789,
          2.6559469046554782
        ],
        "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": [
          0.3251717814577867,
          -0.6995369317114237,
          -0.07291076281046559,
          -1.2280976432540114,
          0.24453122167128977,
          -0.36318175125280794,
          0.06114794856665604
        ],
        "joint_pos_r": [
          -0.3229327477349759,
          -1.1341969117095088,
          0.12622011117772552,
          -0.4989138699670566,
          -0.0706066698099064,
          0.9966258582427107,
          -0.18819574209212753
        ],
        "eef_pose_l": [
          556.7988978889254,
          263.3604189890049,
          46.175643611578295,
          1.8288038143379481,
          -0.07128297964701054,
          0.8108324764127605
        ],
        "eef_pose_r": [
          604.4450605694379,
          -174.6893062052997,
          46.29514015830233,
          1.6630811922376387,
          -0.06434491933455745,
          2.6256082549834967
        ],
        "joint_status_l": {
          "velocity": [
            0.07441811534469878,
            -0.11029562674114146,
            0.003956700449614381,
            -0.22319384316382695,
            -0.535548366100258,
            0.2606011450505541,
            0.37390057188579906
          ],
          "torque": [
            -24.4775390625,
            3.7353515625,
            -15.496826171875,
            -4.96826171875,
            -2.8656005859375,
            1.329345703125,
            0.3662109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9619869490759,
            -4.240159627592277,
            -0.13952969392960757,
            1.6999908374435435,
            -0.125556215513134,
            0.733330942910726,
            -0.04617039189058758
          ],
          "torque": [
            47.2705078125,
            -2.79052734375,
            6.298828125,
            -1.79443359375,
            3.7078857421875,
            2.069091796875,
            -0.0128173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -15.8,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -15.8,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.7,
            -2.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.7,
            -2.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 959,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32641265817417475,
          -0.6995324417055923,
          -0.07294752749712113,
          -1.231476787415709,
          0.2336325331020478,
          -0.35998825189119094,
          0.07124330580138558
        ],
        "act_joint_pos_r": [
          -0.30072149073624205,
          -1.1911280300253966,
          0.12419022361829947,
          -0.4554514580423936,
          -0.07827503009777725,
          1.0134312390361215,
          -0.18366363288249865
        ],
        "act_eef_pose_l": [
          556.4894875079824,
          262.45189076978363,
          46.51163144788785,
          1.825060210960126,
          -0.07066690181390786,
          0.8109441238988713
        ],
        "act_eef_pose_r": [
          609.0974644042035,
          -151.31634812687867,
          56.08494334691977,
          1.653439156770435,
          -0.05405256623719419,
          2.656996111412385
        ],
        "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": [
          0.32535588269890725,
          -0.6996017521966781,
          -0.07291256792189284,
          -1.2286111512134483,
          0.24298418219596665,
          -0.3626670359538751,
          0.06250859526923919
        ],
        "joint_pos_r": [
          -0.319318400250027,
          -1.142896217717889,
          0.12591828214911208,
          -0.4933734036806092,
          -0.071459323399169,
          0.998822592533716,
          -0.18777802040601946
        ],
        "eef_pose_l": [
          556.7571858424869,
          263.18922270254325,
          46.219958380040964,
          1.8282541998918491,
          -0.07111586542029558,
          0.8108293002328739
        ],
        "eef_pose_r": [
          605.1592282764242,
          -170.81258146602002,
          48.02757585400738,
          1.660928030154086,
          -0.0625237682175258,
          2.6310775054171414
        ],
        "joint_status_l": {
          "velocity": [
            0.11412838529212266,
            0.00748531226957283,
            -0.003775522771531925,
            -0.3094795822313756,
            -1.009948315309872,
            0.2893001463180056,
            0.9433209157085343
          ],
          "torque": [
            -23.9501953125,
            7.060546875,
            -16.19873046875,
            -5.450439453125,
            -2.9718017578125,
            1.04736328125,
            0.4742431640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.008406992691114,
            -5.20888210144399,
            -0.18662481712306,
            4.095449340105528,
            -0.7360746140893104,
            1.5776872908599415,
            0.44434074741039886
          ],
          "torque": [
            48.80126953125,
            -2.76123046875,
            6.25,
            -1.8310546875,
            3.328857421875,
            2.81982421875,
            0.34149169921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -16.2,
            -9.0,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.4,
            -16.2,
            -9.0,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.7,
            1.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.7,
            1.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 959,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32637761275945615,
          -0.7013864921892726,
          -0.07276782587266727,
          -1.2247167054747439,
          0.226223966547263,
          -0.36606012826431805,
          0.07874815715199639
        ],
        "act_joint_pos_r": [
          -0.319318400250027,
          -1.142896217717889,
          0.12591828214911208,
          -0.4933734036806092,
          -0.071459323399169,
          0.998822592533716,
          -0.18777802040601946
        ],
        "act_eef_pose_l": [
          557.1638875079824,
          262.87429076978367,
          46.457231447887864,
          1.823610413131762,
          -0.07042631482146672,
          0.8097415129707493
        ],
        "act_eef_pose_r": [
          605.1592282764242,
          -170.81258146602002,
          48.02757585400738,
          1.660928030154086,
          -0.0625237682175258,
          2.6310775054171414
        ],
        "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": [
          0.32552565703503283,
          -0.6997995741663339,
          -0.07289803707436208,
          -1.228319421708613,
          0.24061081113130253,
          -0.3629118240197398,
          0.06479140955975779
        ],
        "joint_pos_r": [
          -0.3164954807622884,
          -1.1502175698377597,
          0.12565597135500042,
          -0.4876170386633072,
          -0.07249391418684516,
          1.001040113292772,
          -0.1871534765961114
        ],
        "eef_pose_l": [
          556.7886993853978,
          263.11481203364775,
          46.260785152932016,
          1.8275699809884751,
          -0.07101217973129056,
          0.8107072720075603
        ],
        "eef_pose_r": [
          605.8127231812483,
          -167.8654526626456,
          49.23031075558609,
          1.6597343422357833,
          -0.06127224554283129,
          2.6350106409096763
        ],
        "joint_status_l": {
          "velocity": [
            0.09200850459212262,
            -0.17138209183276132,
            0.014062395034875053,
            0.3890818779019867,
            -1.5537333901596284,
            -0.3400068304486581,
            1.5072842849880863
          ],
          "torque": [
            -24.42626953125,
            3.251953125,
            -16.656494140625,
            -1.50146484375,
            -3.1475830078125,
            -0.6024169921875,
            0.6060791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.703540679566462,
            -4.418199392437927,
            -0.15829608687023544,
            3.473780253386849,
            -0.6243421043945485,
            1.3382021121195464,
            0.3768920052347191
          ],
          "torque": [
            49.37255859375,
            -1.36962890625,
            6.0546875,
            0.1708984375,
            2.8289794921875,
            2.2283935546875,
            0.45135498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.8,
            -8.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.8,
            -8.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.0,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.0,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 938,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.325589503537544,
          -0.7004003092446786,
          -0.0728835638791815,
          -1.2301900198148004,
          0.22949569225635286,
          -0.3580167583663047,
          0.07428677019250705
        ],
        "act_joint_pos_r": [
          -0.29556681585767525,
          -1.2733286270907485,
          0.12121329286275671,
          -0.31554117109751023,
          -0.07729649151115359,
          1.069591286872248,
          -0.19094145930761186
        ],
        "act_eef_pose_l": [
          557.2374875079823,
          262.66789076978364,
          47.12443144788796,
          1.8231486412647757,
          -0.0709488775412069,
          0.81359877270398
        ],
        "act_eef_pose_r": [
          618.0190644042035,
          -139.06194812687863,
          51.43294334691973,
          1.6570022166985017,
          -0.056088843025683004,
          2.656489874263348
        ],
        "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": [
          0.32558732513927596,
          -0.6999623652018211,
          -0.07288814286435892,
          -1.2282715562826105,
          0.23857110383860428,
          -0.36262935513661343,
          0.06664208101528596
        ],
        "joint_pos_r": [
          -0.31319379593173324,
          -1.1656269821913356,
          0.12510071381126028,
          -0.4680136885268281,
          -0.07341873354267008,
          1.0088169390444326,
          -0.18726033336992107
        ],
        "eef_pose_l": [
          556.857589400599,
          263.05390152578053,
          46.359629503748465,
          1.8268716262181075,
          -0.07096797311794947,
          0.8109287290456481
        ],
        "eef_pose_r": [
          607.5167470790369,
          -163.7999082178773,
          49.89466703840736,
          1.6588777753474486,
          -0.060245664803165636,
          2.6388270517538164
        ],
        "joint_status_l": {
          "velocity": [
            0.0002352600745325617,
            -0.047296561691112515,
            0.0004945158141866912,
            -0.20718795079410768,
            -0.9801155439204123,
            0.4981457591699545,
            0.8256020813081077
          ],
          "torque": [
            -27.47314453125,
            5.1708984375,
            -17.15087890625,
            -5.096435546875,
            -3.2373046875,
            0.5548095703125,
            0.57037353515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.903657702615913,
            -11.631434598308843,
            -0.41982908024162935,
            16.46654622754573,
            -0.41878550917784363,
            6.5634359872071,
            -0.3975498761636942
          ],
          "torque": [
            47.40234375,
            -8.2177734375,
            5.517578125,
            -1.52587890625,
            2.677001953125,
            2.5634765625,
            -0.40008544921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -16.1,
            -10.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -16.1,
            -10.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.2,
            -1.8,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.2,
            -1.8,
            0.9,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 961,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3246624838592905,
          -0.6977704477482306,
          -0.07315995599516584,
          -1.2416957433369697,
          0.23772532023878737,
          -0.35071871224182666,
          0.06554573885336971
        ],
        "act_joint_pos_r": [
          -0.29679086309121283,
          -1.239118583848959,
          0.1227071841137391,
          -0.40459334842666994,
          -0.07987599615999351,
          1.0159738099330489,
          -0.1832719986918065
        ],
        "act_eef_pose_l": [
          555.9086875079824,
          261.1366907697836,
          48.0748314478879,
          1.8231335649680027,
          -0.07114611247475146,
          0.812402474094279
        ],
        "act_eef_pose_r": [
          614.5334644042035,
          -137.10994812687863,
          54.71054334691985,
          1.6552811099618978,
          -0.05601651129119281,
          2.657112323942922
        ],
        "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": [
          0.32548310278064024,
          -0.6997430363941983,
          -0.07291852212799396,
          -1.2299090950901252,
          0.23789514923038751,
          -0.360990277120217,
          0.06700736367560789
        ],
        "joint_pos_r": [
          -0.30999976805154544,
          -1.1821262286881868,
          0.12453442201655629,
          -0.44923962830691583,
          -0.07444285216967392,
          1.0142551967628493,
          -0.18709075907564784
        ],
        "eef_pose_l": [
          556.7764389495576,
          262.8121233040946,
          46.60212978761717,
          1.8262099620981436,
          -0.07098935391332982,
          0.8112650485543584
        ],
        "eef_pose_r": [
          609.3098726483406,
          -158.97188665782042,
          50.48114771934422,
          1.658249223573315,
          -0.059498497172585325,
          2.6422181611123077
        ],
        "joint_status_l": {
          "velocity": [
            -0.08862422967359507,
            0.2130332906844501,
            -0.026074088640415383,
            -1.272920467876304,
            -0.018340990154408487,
            1.109296289921069,
            -0.15785082524050198
          ],
          "torque": [
            -31.64794921875,
            7.79296875,
            -18.109130859375,
            -5.572509765625,
            -2.45361328125,
            1.0089111328125,
            -0.289306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4265196627674115,
            -6.154992825553762,
            -0.1973358733937669,
            4.821656019923903,
            -0.5867622453270549,
            0.18560474826223583,
            0.4124139579555486
          ],
          "torque": [
            49.4970703125,
            -1.0546875,
            6.011962890625,
            1.556396484375,
            2.4554443359375,
            1.8511962890625,
            0.41107177734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -15.8,
            -5.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            1.3,
            -15.8,
            -5.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -16.7,
            -0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.7,
            -0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 965,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32472107211782364,
          -0.6966169481960358,
          -0.07329179506993139,
          -1.2476801654851097,
          0.24224855227005654,
          -0.34790289490434906,
          0.06058123277053206
        ],
        "act_joint_pos_r": [
          -0.2971375331784398,
          -1.2122099065802403,
          0.12399158385334669,
          -0.4732329770755739,
          -0.08061653572316362,
          0.9776221896531753,
          -0.17598048711882566
        ],
        "act_eef_pose_l": [
          554.9878875079824,
          260.07429076978366,
          48.25323144788791,
          1.8235256925526853,
          -0.07041292814546984,
          0.8106513943806869
        ],
        "act_eef_pose_r": [
          610.8430644042035,
          -135.62434812687866,
          58.196943346919625,
          1.6518657098001084,
          -0.05750358236931679,
          2.6596114400716178
        ],
        "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": [
          0.3253830915265799,
          -0.6994274177755586,
          -0.07295660917871058,
          -1.2317422222214323,
          0.23813659113120036,
          -0.35953221034088145,
          0.06653468082418341
        ],
        "joint_pos_r": [
          -0.30786740490963166,
          -1.188459054967572,
          0.12437896791987704,
          -0.4496454775988358,
          -0.07541960027829867,
          1.0102100236418525,
          -0.18564017792590393
        ],
        "eef_pose_l": [
          556.6154409451023,
          262.53871096813344,
          46.79705636778925,
          1.8258483926533706,
          -0.07096706797558784,
          0.8113064180750169
        ],
        "eef_pose_r": [
          609.8242739547655,
          -155.21769127993238,
          51.5438798692098,
          1.657362609187447,
          -0.05913264842681698,
          2.644947324536601
        ],
        "joint_status_l": {
          "velocity": [
            -0.071495987484127,
            0.3035217626932152,
            -0.03619900861906444,
            -1.7212471070067181,
            0.44407870559504126,
            1.2559290254992028,
            -0.6429534268966863
          ],
          "torque": [
            -32.841796875,
            8.3349609375,
            -18.792724609375,
            -5.682373046875,
            -1.41357421875,
            1.0015869140625,
            -0.355224609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1587919702269467,
            -2.5650163230555023,
            -0.04183624529119356,
            -2.5473748126834117,
            -0.5612524747884429,
            -3.5193822721453216,
            1.043215839158007
          ],
          "torque": [
            49.57763671875,
            -2.16064453125,
            10.009765625,
            -5.2978515625,
            2.3455810546875,
            0.7708740234375,
            0.5291748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.9,
            -15.7,
            -7.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.9,
            -15.7,
            -7.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.2,
            -17.1,
            -1.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.2,
            -17.1,
            -1.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 944,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32499600101437603,
          -0.7002668471334279,
          -0.07294947424378588,
          -1.2356021939679258,
          0.23703450145564425,
          -0.3582190509025116,
          0.06679924621751378
        ],
        "act_joint_pos_r": [
          -0.29478658379896805,
          -1.2182279957773452,
          0.12378320559286583,
          -0.46681042761875696,
          -0.07789504367132283,
          0.9764899982450994,
          -0.17575321238714078
        ],
        "act_eef_pose_l": [
          556.1238875079823,
          260.80549076978366,
          47.36283144788791,
          1.8241435488554265,
          -0.07001419528030228,
          0.8083744239201583
        ],
        "act_eef_pose_r": [
          612.2046644042034,
          -134.01234812687863,
          59.561743346919684,
          1.649248194240062,
          -0.05775619496438013,
          2.6576403741407955
        ],
        "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": [
          0.3252902346823612,
          -0.6991774845271811,
          -0.07299181998633983,
          -1.233660497433597,
          0.2385095909925493,
          -0.3582198747279971,
          0.06591728915511073
        ],
        "joint_pos_r": [
          -0.30634570049368515,
          -1.1918860928135881,
          0.12431512467787297,
          -0.4521549377283533,
          -0.07587830266878103,
          1.0060216158806214,
          -0.18440646020257326
        ],
        "eef_pose_l": [
          556.4156899454356,
          262.1755327963333,
          46.98335380251913,
          1.825507206508784,
          -0.07085230373912303,
          0.811066171926424
        ],
        "eef_pose_r": [
          610.0953209462315,
          -152.6328228840076,
          52.46554977315617,
          1.6564764498418936,
          -0.05896623229772178,
          2.6466515634662855
        ],
        "joint_status_l": {
          "velocity": [
            -0.031776298950791926,
            -0.11764769164113176,
            0.004573205316327211,
            -0.20969704102213882,
            -0.15930497153693324,
            8.897052872214317e-05,
            0.09524855353354456
          ],
          "torque": [
            -30.3515625,
            4.86328125,
            -18.963623046875,
            -3.289794921875,
            -2.1221923828125,
            0.1519775390625,
            -0.48980712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.248347784979842,
            -2.8448416159658763,
            -0.05744556691444913,
            -1.5827462275588289,
            -0.21780160455953101,
            -3.189320640652582,
            0.9345232017783367
          ],
          "torque": [
            49.189453125,
            -1.98486328125,
            5.84716796875,
            -4.864501953125,
            2.4005126953125,
            0.3863525390625,
            0.72967529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.9,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.9,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.1,
            -17.1,
            -0.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.1,
            -17.1,
            -0.6,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 923,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3248101192614752,
          -0.7013024727450436,
          -0.07285626168942791,
          -1.232477242447327,
          0.23346858084267327,
          -0.36216055240729733,
          0.06947719513962758
        ],
        "act_joint_pos_r": [
          -0.2936946653167962,
          -1.230473491420369,
          0.12336665320122629,
          -0.4534882839264892,
          -0.07510236949628533,
          0.9718497576116066,
          -0.17586043794890244
        ],
        "act_eef_pose_l": [
          556.3158875079823,
          260.72469076978365,
          47.43003144788787,
          1.8232775545974915,
          -0.06879332750081833,
          0.8067865053433128
        ],
        "act_eef_pose_r": [
          614.6886644042036,
          -131.00754812687865,
          59.51214334691963,
          1.6484705582630024,
          -0.059293329508238395,
          2.6515563498960235
        ],
        "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": [
          0.32522121120979697,
          -0.6994580848697364,
          -0.07297709428270148,
          -1.2338022356061298,
          0.23797363526378415,
          -0.35850390814480426,
          0.06627709654183313
        ],
        "joint_pos_r": [
          -0.3040818696053453,
          -1.1977486108544115,
          0.12418453809194945,
          -0.45396481887493983,
          -0.07605818480600202,
          1.000104475679489,
          -0.18277840666163164
        ],
        "eef_pose_l": [
          556.374613641744,
          261.91055343935267,
          47.05954677673512,
          1.8251883175819026,
          -0.07060505316525788,
          0.810442841102124
        ],
        "eef_pose_r": [
          610.7304092852473,
          -148.9014252028904,
          53.78342841307767,
          1.655043120747826,
          -0.05886066004269808,
          2.648284245927665
        ],
        "joint_status_l": {
          "velocity": [
            -0.04439662101063391,
            -0.19918801579699164,
            0.013049535198206286,
            0.1430950407890208,
            -0.4865315279998228,
            -0.3949059332208904,
            0.3456004556211534
          ],
          "torque": [
            -32.7392578125,
            2.89306640625,
            -20.184326171875,
            -2.301025390625,
            -3.0157470703125,
            -0.611572265625,
            0.3497314453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.121784977883955,
            -3.5341828659714025,
            -0.08832896307464644,
            0.051464256575872724,
            0.10322500899051512,
            -3.051419554521928,
            0.7471185858900498
          ],
          "torque": [
            48.20068359375,
            -2.48291015625,
            6.2255859375,
            -3.778076171875,
            4.27001953125,
            -0.618896484375,
            0.853271484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.1,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.1,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.2,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.2,
            -1.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 965,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32479002427887177,
          -0.7101436718401338,
          -0.07208031229865614,
          -1.2066389777676305,
          0.22113173797897545,
          -0.3821269438296485,
          0.08127290703221897
        ],
        "act_joint_pos_r": [
          -0.29734127214676276,
          -1.2289310351887532,
          0.12357826499075962,
          -0.47610189959204985,
          -0.07771784138892013,
          0.9450377546928013,
          -0.17616766338207115
        ],
        "act_eef_pose_l": [
          559.1398875079824,
          261.98629076978364,
          46.02923144788798,
          1.8230241849191315,
          -0.06623163591641827,
          0.8037537625151415
        ],
        "act_eef_pose_r": [
          614.4806644042035,
          -127.21634812687864,
          57.60814334691986,
          1.652488522444084,
          -0.058792441676100475,
          2.6461760817466655
        ],
        "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": [
          0.3251423318735366,
          -0.7003205027469108,
          -0.07290916218976834,
          -1.2320503067584254,
          0.23640512164580635,
          -0.36035539221267443,
          0.06756748011815442
        ],
        "joint_pos_r": [
          -0.3023812295756944,
          -1.2038236128979183,
          0.12404518510123488,
          -0.45550521733052923,
          -0.07606608036844827,
          0.9928300940138772,
          -0.18149280555405947
        ],
        "eef_pose_l": [
          556.5289625447142,
          261.7598249170097,
          47.04305809349782,
          1.8248346797948238,
          -0.07010723547835779,
          0.8095726846577153
        ],
        "eef_pose_r": [
          611.5197801094763,
          -145.25146624773018,
          54.708298429684845,
          1.6540899378726521,
          -0.058909337456681046,
          2.648511108601856
        ],
        "joint_status_l": {
          "velocity": [
            -0.03804809805529885,
            -1.060870973351058,
            0.08951314819094502,
            2.7443425909474684,
            -1.6494767873005411,
            -2.3512582279785477,
            1.48014245225081
          ],
          "torque": [
            -33.69140625,
            0.732421875,
            -15.56396484375,
            2.62451171875,
            -3.8653564453125,
            -1.98486328125,
            0.39093017578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5442993490736292,
            -2.7115216353532645,
            -0.050425884699500934,
            -2.224376079778434,
            -0.1783849290286632,
            -5.1614204187186985,
            0.5750983929544429
          ],
          "torque": [
            46.3037109375,
            -4.73876953125,
            10.552978515625,
            -6.170654296875,
            2.772216796875,
            0.157470703125,
            0.908203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.9,
            -7.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -15.9,
            -7.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.1,
            0.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.1,
            0.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -311,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 978,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32295562104910824,
          -0.7066028770506001,
          -0.07232095378114736,
          -1.2105983461791725,
          0.22653367313536216,
          -0.38377807582255247,
          0.07664026032227024
        ],
        "act_joint_pos_r": [
          -0.2974210406896569,
          -1.2362799949215457,
          0.12335311954697875,
          -0.47116855910700983,
          -0.08837159052803978,
          0.9422015921844095,
          -0.1696231939424737
        ],
        "act_eef_pose_l": [
          558.2678875079823,
          262.41349076978366,
          47.086831447887846,
          1.8233888463270327,
          -0.06762294500328607,
          0.8016115675572411
        ],
        "act_eef_pose_r": [
          614.7622644042035,
          -124.35154812687864,
          55.43774334691966,
          1.6612735513971724,
          -0.05994663963038049,
          2.6472091855041815
        ],
        "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": [
          0.32499949809030493,
          -0.7019018565357111,
          -0.07277318036658872,
          -1.2277312134929719,
          0.23394184088221764,
          -0.3642772815504848,
          0.06978730996641212
        ],
        "joint_pos_r": [
          -0.3015561864633437,
          -1.2082738255867083,
          0.12395854018894693,
          -0.4586746084746721,
          -0.0768053945750551,
          0.9848487294005708,
          -0.18033003008049586
        ],
        "eef_pose_l": [
          556.9553227919503,
          261.81887901802605,
          46.89982545167942,
          1.8245751970621857,
          -0.06947120696788017,
          0.8084442201925259
        ],
        "eef_pose_r": [
          612.0660500104744,
          -142.16243828172227,
          55.069707326495376,
          1.6542335369121033,
          -0.05896200515759409,
          2.648177218944118
        ],
        "joint_status_l": {
          "velocity": [
            -0.2207322103009446,
            -0.5076952419376113,
            0.048839030797442895,
            1.8502950983538824,
            -0.8000585201957122,
            -2.1060236675354282,
            0.7400968104440131
          ],
          "torque": [
            -35.74951171875,
            1.5234375,
            -16.11328125,
            -0.628662109375,
            -3.1329345703125,
            -1.1553955078125,
            0.51910400390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4465825723096728,
            -3.0245770830301666,
            -0.065383500949312,
            -1.349306872613365,
            -1.249112322323609,
            -4.605754979864152,
            1.1563041995370504
          ],
          "torque": [
            49.21875,
            -3.1201171875,
            9.66796875,
            -5.853271484375,
            2.655029296875,
            0.626220703125,
            0.8624267578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.6,
            -7.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.6,
            -7.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.7,
            -1.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.7,
            -1.4,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 952,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3230766460256303,
          -0.7024181944844671,
          -0.07266027443829165,
          -1.2199917173023902,
          0.2272365878032215,
          -0.3799455301344525,
          0.07533586249284181
        ],
        "act_joint_pos_r": [
          -0.295942433596879,
          -1.2526889129325387,
          0.12275121967728311,
          -0.44329898348781965,
          -0.09941796546559178,
          0.9507397081482171,
          -0.1649416210867343
        ],
        "act_eef_pose_l": [
          556.7782875079824,
          261.96229076978364,
          47.83483144788789,
          1.8223141616094791,
          -0.06736295921426612,
          0.8005461617797077
        ],
        "act_eef_pose_r": [
          616.7606644042035,
          -122.05634812687867,
          52.796143346919735,
          1.6714767435966962,
          -0.05952823489993977,
          2.6461486722486565
        ],
        "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": [
          0.3246451561819702,
          -0.7024898654789897,
          -0.07271294075493039,
          -1.2252478252946648,
          0.23267286076460053,
          -0.367502477513862,
          0.07092317092425969
        ],
        "joint_pos_r": [
          -0.30076013696982834,
          -1.2139460154167174,
          0.12382506921184021,
          -0.45965997914418033,
          -0.07933540661038631,
          0.9776832386497721,
          -0.17823141839543832
        ],
        "eef_pose_l": [
          557.102627057795,
          261.8972159736743,
          46.9714785456803,
          1.8243222642592807,
          -0.06912464044116681,
          0.8071726658629315
        ],
        "eef_pose_r": [
          612.6740785498622,
          -138.91593726226958,
          54.994157979059906,
          1.6559676736611055,
          -0.05918418501927119,
          2.647974081913097
        ],
        "joint_status_l": {
          "velocity": [
            -0.1693941008729105,
            0.00774023912253341,
            0.005687794444431127,
            0.5676429214318546,
            -0.5871001642352436,
            -1.343810049464711,
            0.47655663412027316
          ],
          "torque": [
            -37.20703125,
            3.50830078125,
            -19.317626953125,
            -2.069091796875,
            -3.1146240234375,
            -1.1737060546875,
            0.57769775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5202966189501446,
            -4.184109527994195,
            -0.11597232931115364,
            1.7669354179123964,
            -2.1688523894801692,
            -2.9098154737488002,
            1.4352557787338238
          ],
          "torque": [
            48.7646484375,
            -2.62939453125,
            10.15625,
            -5.35888671875,
            2.4224853515625,
            0.1556396484375,
            0.77911376953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.9,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -15.9,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -18.0,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -18.0,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 990,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32389100751441324,
          -0.7045023421909292,
          -0.0724915792672318,
          -1.2153152061031374,
          0.22189701742806342,
          -0.3828047929218646,
          0.07992568536034593
        ],
        "act_joint_pos_r": [
          -0.2953933273712317,
          -1.2598897425467994,
          0.12248424716050435,
          -0.42861724935914636,
          -0.10274132251438182,
          0.9573604671293988,
          -0.1635354622789241
        ],
        "act_eef_pose_l": [
          557.3094875079825,
          261.98389076978367,
          47.34283144788793,
          1.8215900720115357,
          -0.06601679885134074,
          0.800425588359511
        ],
        "act_eef_pose_r": [
          617.6086644042034,
          -121.56994812687867,
          51.73294334691991,
          1.6748816375992486,
          -0.05993964017065436,
          2.64588090132071
        ],
        "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": [
          0.32442305646225306,
          -0.7025695914297466,
          -0.07269687578717096,
          -1.2241784148512314,
          0.23154471921111136,
          -0.369673598511646,
          0.07185012143084729
        ],
        "joint_pos_r": [
          -0.2998921335254508,
          -1.2210084358160636,
          0.12362733064306466,
          -0.4563342574215383,
          -0.08298417669943309,
          0.973114640233623,
          -0.17584020328271865
        ],
        "eef_pose_l": [
          557.0731336589253,
          261.9083868663076,
          47.08897524785789,
          1.8239730518003738,
          -0.06877171296395558,
          0.8060770068220221
        ],
        "eef_pose_r": [
          613.4605960571139,
          -135.92758247782592,
          54.55196652886852,
          1.6588393988252101,
          -0.05932544316425904,
          2.647661053904145
        ],
        "joint_status_l": {
          "velocity": [
            -0.05745959168645953,
            -0.20873092601814136,
            0.022171370243850852,
            0.9571983137401929,
            -1.0419210627501396,
            -1.4181271708784138,
            0.8721351821335821
          ],
          "torque": [
            -37.30224609375,
            4.16015625,
            -19.32373046875,
            -0.384521484375,
            -3.2061767578125,
            -1.1810302734375,
            0.60699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4858567350773946,
            -4.199057282344043,
            -0.12344937517194676,
            2.9933485866409093,
            -2.133708817636748,
            -1.701400515131013,
            1.3288728354006185
          ],
          "torque": [
            51.298828125,
            -3.10546875,
            6.18896484375,
            -1.263427734375,
            2.266845703125,
            0.5731201171875,
            0.8367919921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.8,
            -7.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.8,
            -7.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.7,
            -0.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.7,
            -0.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 950,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3252076493427499,
          -0.7039630696477279,
          -0.07256198706326737,
          -1.219016147824075,
          0.22123232618472805,
          -0.3764961617700703,
          0.0817693302757153
        ],
        "act_joint_pos_r": [
          -0.29720416551057927,
          -1.2595710965184104,
          0.12257589660929177,
          -0.4401052208539797,
          -0.11000746496817282,
          0.9357835177033706,
          -0.15838077676196158
        ],
        "act_eef_pose_l": [
          557.2094875079823,
          261.86149076978364,
          46.95003144788785,
          1.821656176560941,
          -0.0673997674059159,
          0.8031935789881518
        ],
        "act_eef_pose_r": [
          618.6022644042034,
          -120.13074812687864,
          49.54014334691965,
          1.6830393991140435,
          -0.060426237151870545,
          2.6363535171094954
        ],
        "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": [
          0.3244775593165523,
          -0.7028504649766185,
          -0.07266852265100902,
          -1.2230289497444211,
          0.22976391879125285,
          -0.37128342032670225,
          0.07348599112216933
        ],
        "joint_pos_r": [
          -0.29922727137215965,
          -1.227860002784808,
          0.12343183195897252,
          -0.45226196021159937,
          -0.08700130775360976,
          0.9687734342019058,
          -0.17329295978852347
        ],
        "eef_pose_l": [
          557.1035139820617,
          261.90756191434383,
          47.0867675148956,
          1.8235722727581627,
          -0.06843628945127384,
          0.805387621417404
        ],
        "eef_pose_r": [
          614.3004508242602,
          -133.28907439119683,
          53.87416185551268,
          1.6622988081244694,
          -0.059546646554453304,
          2.6466804802294166
        ],
        "joint_status_l": {
          "velocity": [
            0.07884739734942414,
            -0.12015776061602423,
            0.011505504139419642,
            0.43336982583852546,
            -0.9213848267117797,
            -0.5629594722815767,
            0.8945742445258809
          ],
          "torque": [
            -31.22314453125,
            1.4794921875,
            -19.342041015625,
            -1.0986328125,
            -3.1439208984375,
            -1.490478515625,
            0.59417724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2184889890628483,
            -3.4246971171860707,
            -0.09243829144389704,
            1.3128891290281608,
            -2.484591700057659,
            -3.562805902499022,
            1.6104682686461924
          ],
          "torque": [
            49.3798828125,
            -5.64697265625,
            6.097412109375,
            -1.0498046875,
            2.36572265625,
            0.0787353515625,
            0.90087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.9,
            -7.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -15.9,
            -7.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.2,
            -2.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.2,
            -2.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 971,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3225655885763269,
          -0.6992044612334773,
          -0.07307301377588217,
          -1.2411554820093373,
          0.23873441678132984,
          -0.360051934509966,
          0.06056928369244041
        ],
        "act_joint_pos_r": [
          -0.29751869713583146,
          -1.2655318081775455,
          0.122388620243014,
          -0.431459928485193,
          -0.11203105553539938,
          0.9343258237124866,
          -0.15849843295303243
        ],
        "act_eef_pose_l": [
          555.1134875079824,
          259.1246907697837,
          49.064431447887785,
          1.8218134046316197,
          -0.06611261586149833,
          0.8036005213175664
        ],
        "act_eef_pose_r": [
          619.7270644042035,
          -119.27154812687866,
          48.31694334691974,
          1.6861624846035024,
          -0.05988066302978528,
          2.6327071514086073
        ],
        "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": [
          0.32430850777478537,
          -0.7025102080276036,
          -0.0727073519604943,
          -1.22481771760513,
          0.2302304468102935,
          -0.3703494638060555,
          0.07255828201154596
        ],
        "joint_pos_r": [
          -0.29892596715554076,
          -1.2336660420981884,
          0.12327249269754262,
          -0.4494035431975285,
          -0.09098468955241587,
          0.9632050559556556,
          -0.1708531691415789
        ],
        "eef_pose_l": [
          556.8877372725641,
          261.5898561682774,
          47.29830411658887,
          1.8232643427526192,
          -0.0681031482152483,
          0.8050435952712132
        ],
        "eef_pose_r": [
          615.148761037851,
          -131.03951381118011,
          53.018652949787594,
          1.6660701561450337,
          -0.05973460061700064,
          2.6446410514435073
        ],
        "joint_status_l": {
          "velocity": [
            -0.18822972189447285,
            0.35701012431488266,
            -0.03949031135741521,
            -1.7644265166758544,
            0.9184016700625186,
            1.11210036433107,
            -1.2947736311563762
          ],
          "torque": [
            -37.646484375,
            6.90673828125,
            -19.5556640625,
            -5.0048828125,
            -0.787353515625,
            0.230712890625,
            -0.25909423828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15198067969812712,
            -3.441401237866515,
            -0.09545540978228573,
            1.9378532350065036,
            -2.272940489365882,
            -3.11886509625392,
            1.3342721561093729
          ],
          "torque": [
            50.9033203125,
            -4.21142578125,
            5.79833984375,
            -0.970458984375,
            2.340087890625,
            -0.09521484375,
            0.81573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.0,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.0,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.4,
            -1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.4,
            -1.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 963,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32487599611550655,
          -0.7059953135828301,
          -0.07243227552865056,
          -1.2176259421630538,
          0.2241902682215826,
          -0.37552978891487,
          0.0759986401305977
        ],
        "act_joint_pos_r": [
          -0.2945179469187664,
          -1.2758557963860615,
          0.12204065400172073,
          -0.4122527777799607,
          -0.11121764826003712,
          0.9349298062459732,
          -0.15942409463075197
        ],
        "act_eef_pose_l": [
          557.6910875079824,
          261.36869076978365,
          46.74123144788774,
          1.8224496537961592,
          -0.06466610803913678,
          0.804200937452188
        ],
        "act_eef_pose_r": [
          622.6694644042035,
          -118.86594812687866,
          48.84334334691971,
          1.6869919003852947,
          -0.05784417292253951,
          2.6246894025253695
        ],
        "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": [
          0.32429150653204114,
          -0.7027815190735921,
          -0.07269125710973136,
          -1.2247411386998162,
          0.22990114162526795,
          -0.37047931983743404,
          0.07238296030247729
        ],
        "joint_pos_r": [
          -0.2983961482984205,
          -1.2399315030107978,
          0.12309257765535653,
          -0.44454325348174445,
          -0.09436370824679371,
          0.9585175201036926,
          -0.16891417925728586
        ],
        "eef_pose_l": [
          556.899826730748,
          261.4366184934504,
          47.31605738583781,
          1.8230959069009116,
          -0.06756615502519255,
          0.8048629543069912
        ],
        "eef_pose_r": [
          616.2265781144823,
          -129.06550868308483,
          52.2792207638897,
          1.6694886360487469,
          -0.05963183265006575,
          2.641892618728157
        ],
        "joint_status_l": {
          "velocity": [
            0.06312301330035908,
            -0.34707957043256243,
            0.027969185849796574,
            0.7684185626768425,
            -0.61675613734824,
            -0.5454345736302102,
            0.39048190478885303
          ],
          "torque": [
            -30.64453125,
            2.6513671875,
            -19.354248046875,
            -1.361083984375,
            -2.7923583984375,
            -0.999755859375,
            0.33233642578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4188333961718804,
            -3.879709258619357,
            -0.11360440400987049,
            3.4872685243052537,
            -1.8201718383313858,
            -2.5473979651469136,
            1.0248989118881724
          ],
          "torque": [
            52.3388671875,
            -3.25927734375,
            5.657958984375,
            -0.933837890625,
            2.3162841796875,
            0.2325439453125,
            0.75714111328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.3,
            -4.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.3,
            -4.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.7,
            -1.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.7,
            -1.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 948,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.325796200502697,
          -0.7132497249985708,
          -0.07175058611511612,
          -1.1915238654917866,
          0.21139221151592866,
          -0.39687065725985354,
          0.09128901911815653
        ],
        "act_joint_pos_r": [
          -0.29361731571535715,
          -1.274402563351198,
          0.12211024062738657,
          -0.4169182565492985,
          -0.10955605854452032,
          0.9300180215097987,
          -0.1589265186711467
        ],
        "act_eef_pose_l": [
          560.1486875079823,
          263.44949076978367,
          44.972431447887914,
          1.822678704088168,
          -0.06459476876668543,
          0.8008514883554388
        ],
        "act_eef_pose_r": [
          623.0150644042035,
          -118.76834812687866,
          49.84334334691994,
          1.685308680307244,
          -0.05787403097224934,
          2.6226346846416986
        ],
        "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": [
          0.32447175749490953,
          -0.7039909187918058,
          -0.07258414060246136,
          -1.2210648384762097,
          0.22776129779724022,
          -0.3733686300259853,
          0.07445266338178337
        ],
        "joint_pos_r": [
          -0.29768123859421297,
          -1.2457124771353205,
          0.12292562281962428,
          -0.43963554851839093,
          -0.09699171032431708,
          0.9542179571022856,
          -0.16731131886498146
        ],
        "eef_pose_l": [
          557.2682196481147,
          261.6330650716902,
          47.0433149914665,
          1.823064246131294,
          -0.06710671728100408,
          0.8044224621207727
        ],
        "eef_pose_r": [
          617.3423348287336,
          -127.38115751361076,
          51.784791301585585,
          1.6722465915367526,
          -0.05939619064582247,
          2.638894761585858
        ],
        "joint_status_l": {
          "velocity": [
            0.14303562623085853,
            -0.999921579220242,
            0.09002122959911318,
            3.1903309885343845,
            -1.7678091796369255,
            -2.5381440826990342,
            1.8182727924388464
          ],
          "torque": [
            -28.70361328125,
            0.02197265625,
            -13.43994140625,
            -1.35498046875,
            -3.204345703125,
            -1.64794921875,
            0.4705810546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.43889072652625316,
            -3.098437927773645,
            -0.08805867960981484,
            2.4533951736391835,
            -1.3569095878728232,
            -2.61351596245607,
            0.9055317137041108
          ],
          "torque": [
            50.35400390625,
            -3.12744140625,
            5.462646484375,
            -1.318359375,
            2.457275390625,
            0.2618408203125,
            0.750732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.9,
            -7.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -15.9,
            -7.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.4,
            -0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.4,
            -0.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -179,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 954,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32698972463354137,
          -0.7029898352688072,
          -0.0725318858388345,
          -1.2109882915160832,
          0.2139218838376971,
          -0.38560257853819757,
          0.08782081859122169
        ],
        "act_joint_pos_r": [
          -0.2942954633153297,
          -1.2740350595568175,
          0.12215494970816022,
          -0.4216534720242828,
          -0.1035748475362115,
          0.9222922038215416,
          -0.16291282514980945
        ],
        "act_eef_pose_l": [
          557.3214875079824,
          263.95429076978365,
          45.9308314478879,
          1.822028206268239,
          -0.0647596136963966,
          0.803215660059864
        ],
        "act_eef_pose_r": [
          623.6102644042035,
          -118.24194812687864,
          50.44734334691975,
          1.6813745059328165,
          -0.057202987391796696,
          2.6185626959162254
        ],
        "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": [
          0.32470802150725747,
          -0.704561529455421,
          -0.07252449579419162,
          -1.2184731079651672,
          0.22584543615945746,
          -0.37567561020821605,
          0.07637287344599704
        ],
        "joint_pos_r": [
          -0.2970301549524634,
          -1.2507485717359692,
          0.12278590339091756,
          -0.43608992948192277,
          -0.0986182703519041,
          0.9491707550177485,
          -0.16622531448221223
        ],
        "eef_pose_l": [
          557.4692009799523,
          261.8909406735247,
          46.831192935517464,
          1.8230090626389435,
          -0.06679056220353366,
          0.8041043120278307
        ],
        "eef_pose_r": [
          618.4250514666602,
          -125.80563757175169,
          51.49037655163383,
          1.6741834540080767,
          -0.059097066038888854,
          2.6356174822787537
        ],
        "joint_status_l": {
          "velocity": [
            0.24641666996716438,
            0.16973796600083801,
            -0.0007981012827285028,
            0.8083363358952766,
            -1.2877056719016178,
            -1.0720809602999815,
            1.2363416117375792
          ],
          "torque": [
            -26.77001953125,
            4.68017578125,
            -16.302490234375,
            -3.11279296875,
            -3.0560302734375,
            -0.8294677734375,
            0.6024169921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2953379862824512,
            -2.514866512628444,
            -0.06814098802687685,
            1.5590914224818953,
            -0.5352945482363092,
            -2.9027979157421058,
            0.35773829697238746
          ],
          "torque": [
            51.9580078125,
            -4.06494140625,
            5.413818359375,
            -1.483154296875,
            2.3638916015625,
            0.2874755859375,
            0.692138671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.8,
            -6.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -15.8,
            -6.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.6,
            -0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.6,
            -0.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 942,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32860388122081297,
          -0.69738309022221,
          -0.07305053661107921,
          -1.229040923964547,
          0.2216979995952178,
          -0.3728468791019734,
          0.08073875665366978
        ],
        "act_joint_pos_r": [
          -0.29403434999475797,
          -1.280543807304283,
          0.12198358528083665,
          -0.4164381327773585,
          -0.10575710825394324,
          0.9208072669117869,
          -0.16388738235683278
        ],
        "act_eef_pose_l": [
          554.9326875079825,
          262.53989076978365,
          46.03643144788799,
          1.82311863547124,
          -0.065328956354856,
          0.803461424959418
        ],
        "act_eef_pose_r": [
          624.1046644042035,
          -115.89954812687864,
          49.89454334691982,
          1.683229032338737,
          -0.05533687898921024,
          2.618919550884811
        ],
        "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": [
          0.3252331462941471,
          -0.7039386142267211,
          -0.07255603147162817,
          -1.2181072347206818,
          0.22404331107307643,
          -0.3768109443505966,
          0.0781254224593591
        ],
        "joint_pos_r": [
          -0.2965242125388022,
          -1.255424827939921,
          0.12265962769443016,
          -0.4330895185477225,
          -0.09968206020318002,
          0.9442908661173642,
          -0.16572333920258087
        ],
        "eef_pose_l": [
          557.3030563566273,
          262.19863034995393,
          46.663840153981255,
          1.8228994465731283,
          -0.06643532800740834,
          0.8039473454773214
        ],
        "eef_pose_r": [
          619.4029327324762,
          -124.26763673595237,
          51.24976823763424,
          1.675625950639183,
          -0.05862800130894531,
          2.6326313184196275
        ],
        "joint_status_l": {
          "velocity": [
            0.36402863562923216,
            0.7079757118599872,
            -0.05340497996497717,
            -1.1808036123959198,
            -0.2532861693325117,
            0.42810642052737435,
            0.28223176900443736
          ],
          "torque": [
            -24.93896484375,
            6.8994140625,
            -15.802001953125,
            -3.631591796875,
            -2.6953125,
            0.472412109375,
            0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.26889722405742944,
            -2.712769762483802,
            -0.07301042734075835,
            1.7982966252754196,
            -0.6560858392649083,
            -2.5361539143409217,
            0.19827749145884255
          ],
          "torque": [
            52.58056640625,
            -3.88916015625,
            5.438232421875,
            -0.91552734375,
            2.215576171875,
            0.05859375,
            0.66558837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -15.7,
            -5.5,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -15.7,
            -5.5,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -16.9,
            -3.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -16.9,
            -3.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -312,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 938,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3250354882318056,
          -0.7038636200795859,
          -0.07251151241958244,
          -1.2135936846043178,
          0.22152039846000962,
          -0.3823226477439475,
          0.07881917603555783
        ],
        "act_joint_pos_r": [
          -0.2947541010247354,
          -1.2790516761747523,
          0.12210901862136608,
          -0.43152585022897527,
          -0.11048736214284148,
          0.9083129083552084,
          -0.16293616418433138
        ],
        "act_eef_pose_l": [
          557.5094875079824,
          263.0598907697837,
          46.62123144788785,
          1.8227580656753204,
          -0.06435508963258015,
          0.8034463022716266
        ],
        "act_eef_pose_r": [
          623.2534644042034,
          -113.15714812687867,
          49.50894334691975,
          1.6859794006079845,
          -0.0528998132819001,
          2.620695743714431
        ],
        "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": [
          0.3256306025563587,
          -0.7031454562039033,
          -0.07261365896447781,
          -1.2192264428621038,
          0.22364995490029366,
          -0.3765753215145075,
          0.07847075970501144
        ],
        "joint_pos_r": [
          -0.2961555740909519,
          -1.2597176595409947,
          0.12255257396488405,
          -0.4316461164319405,
          -0.10122667543382775,
          0.9388960144436537,
          -0.16530411348893975
        ],
        "eef_pose_l": [
          557.0272589955063,
          262.27796453003043,
          46.58544395173422,
          1.8229193371695749,
          -0.06621080447148484,
          0.8038665588515853
        ],
        "eef_pose_r": [
          620.1675539307694,
          -122.5153874496243,
          50.96099175972742,
          1.6772668626744458,
          -0.057839280332870696,
          2.6303819535532513
        ],
        "joint_status_l": {
          "velocity": [
            -0.06427045149637323,
            -0.07755941108111841,
            0.011031501492064777,
            0.6083199504036685,
            -0.22998531249651677,
            -0.6206929264198635,
            0.037627853924693255
          ],
          "torque": [
            -26.1767578125,
            7.02392578125,
            -16.12548828125,
            -4.315185546875,
            -3.0560302734375,
            0.4119873046875,
            0.57769775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1513546271856292,
            -2.0880122138162704,
            -0.047902564289326044,
            0.01298836684915372,
            -1.0001246674731235,
            -3.302878044371127,
            0.255730982515745
          ],
          "torque": [
            52.20703125,
            -3.42041015625,
            9.50927734375,
            -2.50244140625,
            2.222900390625,
            -0.201416015625,
            0.6353759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.0,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -16.0,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.3,
            -0.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.3,
            -0.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 1011,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32809779271157347,
          -0.6773419397996749,
          -0.07485590802968152,
          -1.2828780021054107,
          0.2426167526870877,
          -0.3411396342917086,
          0.0570919108779299
        ],
        "act_joint_pos_r": [
          -0.2939895127232268,
          -1.2823835512690938,
          0.12203604942426034,
          -0.431670511660472,
          -0.1162722933170901,
          0.9088822053476111,
          -0.1616451539859333
        ],
        "act_eef_pose_l": [
          547.6390875079824,
          259.2718907697837,
          49.86683144788782,
          1.821074757546059,
          -0.06572627435057644,
          0.8028322162260582
        ],
        "act_eef_pose_r": [
          622.6686644042036,
          -110.89394812687868,
          49.214543346919754,
          1.6891166266551092,
          -0.05060209962779979,
          2.6256609904993766
        ],
        "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": [
          0.3257811125319797,
          -0.7010033785254611,
          -0.072795699909639,
          -1.2241121857833794,
          0.2250592682652045,
          -0.37412474081124353,
          0.07667055848944505
        ],
        "joint_pos_r": [
          -0.29582150356806497,
          -1.2635120544152119,
          0.12246591560097038,
          -0.4316411763605346,
          -0.10351683066482437,
          0.933552905255429,
          -0.16473975890885395
        ],
        "eef_pose_l": [
          556.2852523355469,
          262.103287535849,
          46.8541939298301,
          1.8227983468512547,
          -0.06596296723137159,
          0.8037287595032153
        ],
        "eef_pose_r": [
          620.6629572882592,
          -120.60470633500029,
          50.65857707269265,
          1.6791942183544433,
          -0.05675079315858445,
          2.629228755983034
        ],
        "joint_status_l": {
          "velocity": [
            0.250194080316124,
            2.5553600160703738,
            -0.22249591479839292,
            -6.346520982148718,
            1.8961523935376867,
            3.56228644008727,
            -2.114431580217735
          ],
          "torque": [
            -24.26513671875,
            9.2578125,
            -19.17724609375,
            -6.817626953125,
            -0.7379150390625,
            0.172119140625,
            -0.40374755859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.19784917599308116,
            -2.038061550807768,
            -0.046424177876813744,
            -0.003168118954288701,
            -1.3775493377986558,
            -2.664357009035001,
            0.33420747475298995
          ],
          "torque": [
            52.72705078125,
            -5.947265625,
            7.513427734375,
            -2.81982421875,
            2.36572265625,
            0.7470703125,
            0.6024169921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            2.1,
            -17.1,
            -1.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            2.1,
            -17.1,
            -1.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.0,
            -17.6,
            -0.3,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.0,
            -17.6,
            -0.3,
            1.2,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 971,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33083770078077523,
          -0.6578225251645539,
          -0.07666362150672816,
          -1.3292690040987591,
          0.25931315290476376,
          -0.30956601986832777,
          0.03721525233510894
        ],
        "act_joint_pos_r": [
          -0.2929638743026661,
          -1.295199414812367,
          0.12158780923172018,
          -0.40125403422154243,
          -0.11836624615183801,
          0.9250331271092839,
          -0.1626589312467217
        ],
        "act_eef_pose_l": [
          541.1838875079824,
          258.3214907697837,
          51.93963144788796,
          1.8202984530796686,
          -0.06500280883240053,
          0.8087480150398418
        ],
        "act_eef_pose_r": [
          624.3022644042035,
          -110.97234812687867,
          47.77454334691993,
          1.692513546595321,
          -0.0503863918749782,
          2.6249803102034632
        ],
        "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": [
          0.32641660314888227,
          -0.6951231053366388,
          -0.07331549493746835,
          -1.2385659764098937,
          0.22958212348603224,
          -0.3656128198145491,
          0.07153632629688601
        ],
        "joint_pos_r": [
          -0.29559954048955867,
          -1.2658319495592862,
          0.12241074959223541,
          -0.43119264391874634,
          -0.1049872991620047,
          0.9310089189255071,
          -0.16440561481174354
        ],
        "eef_pose_l": [
          554.227788601416,
          261.5096723192325,
          47.51768201677024,
          1.8226016367885194,
          -0.06582039990389736,
          0.8039676192940257
        ],
        "eef_pose_r": [
          620.922680681753,
          -119.51016923583018,
          50.46759826933288,
          1.6803801093846553,
          -0.05607636647791989,
          2.628814999712497
        ],
        "joint_status_l": {
          "velocity": [
            0.4774644621829971,
            4.028343848934135,
            -0.3615870050414083,
            -9.79563808349404,
            3.2108564780730653,
            6.052875874160701,
            -3.706566668531641
          ],
          "torque": [
            -24.52880859375,
            9.36767578125,
            -20.684814453125,
            -6.54296875,
            -0.545654296875,
            0.9796142578125,
            -0.94207763671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.28464355307189493,
            -3.171592706205928,
            -0.0888749377095932,
            3.2332744869645325,
            -1.444883660336349,
            -0.6453664820851301,
            0.18863626149334678
          ],
          "torque": [
            53.26171875,
            -2.8857421875,
            6.33544921875,
            -3.106689453125,
            2.30712890625,
            -0.0201416015625,
            0.60150146484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.4,
            -16.8,
            -13.0,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.4,
            -16.8,
            -13.0,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.2,
            -0.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.2,
            -0.4,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -305,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 969,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33265890407409066,
          -0.6595824969490047,
          -0.07659425611854911,
          -1.3317941516466723,
          0.2601271301830981,
          -0.30337049603916716,
          0.03680803194553047
        ],
        "act_joint_pos_r": [
          -0.2931090214541184,
          -1.2976645562524654,
          0.12150373431888464,
          -0.3951789502769587,
          -0.11970236570470139,
          0.9277434661734857,
          -0.16202804054823974
        ],
        "act_eef_pose_l": [
          541.2318875079824,
          257.3318907697836,
          51.09163144788778,
          1.8208314553912401,
          -0.06480254108487915,
          0.81052225188785
        ],
        "act_eef_pose_r": [
          624.6158644042034,
          -111.10114812687868,
          47.10334334691993,
          1.6942173275586474,
          -0.05087568769142782,
          2.62432154643755
        ],
        "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": [
          0.32732960232019864,
          -0.6886549462198361,
          -0.07390247049678747,
          -1.2547851017978082,
          0.2348975086206234,
          -0.3552565662982401,
          0.0654387105815587
        ],
        "joint_pos_r": [
          -0.2951076748041324,
          -1.2714917259669347,
          0.12225149188697419,
          -0.42526639888627826,
          -0.10757508100170746,
          0.9299982751036742,
          -0.16404772643920523
        ],
        "eef_pose_l": [
          551.9763963534189,
          260.88586792356745,
          48.16304132602792,
          1.8224869165054103,
          -0.06560722931432274,
          0.8049168695346393
        ],
        "eef_pose_r": [
          621.5966140479667,
          -117.90567503019135,
          49.921891111814546,
          1.6827462063216807,
          -0.05503512845180346,
          2.628054034982952
        ],
        "joint_status_l": {
          "velocity": [
            0.5755476145505867,
            3.139731919806543,
            -0.29070427328603543,
            -8.316732094774792,
            2.7247187674628304,
            5.603530320687611,
            -3.092022098374003
          ],
          "torque": [
            -22.822265625,
            8.759765625,
            -20.8251953125,
            -6.011962890625,
            -0.05126953125,
            1.036376953125,
            -0.68389892578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.21584819569975267,
            -2.8265823052482375,
            -0.08075543559948883,
            3.249348615391945,
            -1.3097081201471905,
            -0.24351218245222128,
            0.2181196431294552
          ],
          "torque": [
            54.64599609375,
            -3.01025390625,
            5.767822265625,
            -0.10986328125,
            2.4737548828125,
            0.3094482421875,
            0.63446044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -15.7,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -15.7,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -18.1,
            -0.7,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -18.1,
            -0.7,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 940,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32785963007937435,
          -0.684929987704359,
          -0.07407114263423382,
          -1.2496339065999464,
          0.22952451293657528,
          -0.35790500204835407,
          0.06506131133167535
        ],
        "act_joint_pos_r": [
          -0.29252072564396414,
          -1.3082118758974868,
          0.12118373537056988,
          -0.37409307473696624,
          -0.12203138869237805,
          0.935667242174631,
          -0.16166595623762609
        ],
        "act_eef_pose_l": [
          552.5318875079823,
          264.47989076978365,
          47.96843144788801,
          1.8226866985281305,
          -0.061083621305527004,
          0.81220410827773
        ],
        "act_eef_pose_r": [
          625.9758644042035,
          -110.40594812687868,
          45.821743346919675,
          1.6976412517388548,
          -0.051265990291319924,
          2.6223045778090683
        ],
        "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": [
          0.3279268298932766,
          -0.6853485083882848,
          -0.07419836991668873,
          -1.2626707162531658,
          0.23726682922691159,
          -0.34989572675957753,
          0.06237375253534177
        ],
        "joint_pos_r": [
          -0.29473694741387274,
          -1.2764303398383015,
          0.1221098453850074,
          -0.41932486858331813,
          -0.1097879691134547,
          0.9298332758186203,
          -0.16367995123136367
        ],
        "eef_pose_l": [
          550.8912950959553,
          260.71991289772154,
          48.42500785565795,
          1.8224496827412993,
          -0.06523487459733449,
          0.805924015243691
        ],
        "eef_pose_r": [
          622.1899136073097,
          -116.68515695746389,
          49.38065536035501,
          1.6848684941442589,
          -0.05431596925290032,
          2.627329029322082
        ],
        "joint_status_l": {
          "velocity": [
            -0.007257365857160636,
            0.04519890079368594,
            0.013740141261320282,
            1.4079339177559547,
            -0.8361454985630346,
            -0.8649762200776401,
            0.29024778960301534
          ],
          "torque": [
            -24.66064453125,
            2.9443359375,
            -15.29541015625,
            5.4931640625,
            -2.918701171875,
            -1.0272216796875,
            -0.52459716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23934489204968656,
            -3.4323046639777033,
            -0.10001693171757253,
            4.884889663286707,
            -1.322250316835194,
            0.630049784124509,
            0.21750504435535944
          ],
          "torque": [
            53.15185546875,
            -3.84521484375,
            6.402587890625,
            -1.226806640625,
            2.4188232421875,
            0.208740234375,
            0.5291748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.3,
            -15.7,
            -10.7,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.3,
            -15.7,
            -10.7,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.4,
            -1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.4,
            -1.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -257,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 940,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33112961088321385,
          -0.698962079829979,
          -0.07277129959908973,
          -1.2063020394902404,
          0.20623015472157877,
          -0.38534747988496015,
          0.09201377590154193
        ],
        "act_joint_pos_r": [
          -0.29165802900079507,
          -1.318222397891077,
          0.12088344753574702,
          -0.35236717334168444,
          -0.12615882992975225,
          0.9462474848198457,
          -0.15913720031977338
        ],
        "act_eef_pose_l": [
          557.5534875079824,
          267.99589076978367,
          43.9964314478878,
          1.8237973966757015,
          -0.060913631278880005,
          0.812519326612285
        ],
        "act_eef_pose_r": [
          626.9726644042034,
          -109.99794812687867,
          44.48094334691973,
          1.702128193760029,
          -0.05282925226310552,
          2.6218380109026467
        ],
        "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": [
          0.3280585229065516,
          -0.6858906151567218,
          -0.07411880307079172,
          -1.2584631335970842,
          0.23487514109095414,
          -0.35251674629166485,
          0.06403233292066673
        ],
        "joint_pos_r": [
          -0.2943322852458877,
          -1.2821982908620908,
          0.12194164051415848,
          -0.4110047646548579,
          -0.11201402257189583,
          0.9310219416897383,
          -0.1632862948212238
        ],
        "eef_pose_l": [
          551.4099961620102,
          261.5364352306792,
          48.158489273895896,
          1.8225886300658358,
          -0.06447697852371582,
          0.8070396722511451
        ],
        "eef_pose_r": [
          622.9034192212142,
          -115.57313848104441,
          48.725702155124964,
          1.6871764437813679,
          -0.05379498452871902,
          2.6264275377441053
        ],
        "joint_status_l": {
          "velocity": [
            0.3316677194629136,
            -1.411676549537333,
            0.1455260828815419,
            5.633232020242573,
            -3.0935672880025855,
            -3.545614655761309,
            3.0219067155600743
          ],
          "torque": [
            -25.2392578125,
            6.59912109375,
            -14.874267578125,
            -0.9765625,
            -2.896728515625,
            -0.7012939453125,
            0.36163330078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.28881115644052713,
            -3.890488815295967,
            -0.11428147111669507,
            6.332673089613827,
            -1.5275941406676097,
            1.644310161715623,
            0.4480889904783236
          ],
          "torque": [
            52.03125,
            -3.9111328125,
            7.012939453125,
            0.042724609375,
            2.3199462890625,
            1.8145751953125,
            0.57861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -15.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.6,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.6,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 940,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3329808231792492,
          -0.7037680759712994,
          -0.07234241626853452,
          -1.192116708879253,
          0.19505356033469468,
          -0.39265768946478885,
          0.10614157541146482
        ],
        "act_joint_pos_r": [
          -0.2913414094177176,
          -1.3220539252306764,
          0.12073973173499185,
          -0.3369331077674807,
          -0.12886894630373114,
          0.9554194148337345,
          -0.1569785918887206
        ],
        "act_eef_pose_l": [
          559.3166875079824,
          269.2390907697837,
          42.566831447887864,
          1.823162853591026,
          -0.06277809956337005,
          0.8136803330341897
        ],
        "act_eef_pose_r": [
          627.6814644042036,
          -111.67634812687868,
          43.362543346919665,
          1.705727005440177,
          -0.05449270804564638,
          2.6198178493886672
        ],
        "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": [
          0.32881041310145687,
          -0.6887440821759917,
          -0.07383215672266041,
          -1.2476399008856467,
          0.22854926821720775,
          -0.35914640068646164,
          0.07057390806319384
        ],
        "joint_pos_r": [
          -0.2938410555633515,
          -1.2887903050697402,
          0.12174619180504698,
          -0.39974027530963396,
          -0.11467242770838158,
          0.9342469245992812,
          -0.16242726375967356
        ],
        "eef_pose_l": [
          552.7214090424096,
          262.8118933808662,
          47.219843284799,
          1.8229183073541901,
          -0.06398757724232272,
          0.8081031592337061
        ],
        "eef_pose_r": [
          623.710484538699,
          -114.6892302939771,
          47.9029602861695,
          1.6899955064584777,
          -0.05369351508521436,
          2.625496310949117
        ],
        "joint_status_l": {
          "velocity": [
            0.45039100482879846,
            -1.6225434755314794,
            0.16088722393059474,
            5.996327884453478,
            -3.6174297609237183,
            -3.61911244804336,
            3.8411947836288762
          ],
          "torque": [
            -22.68310546875,
            1.5234375,
            -9.6923828125,
            -1.01318359375,
            -3.2318115234375,
            -1.3970947265625,
            0.4962158203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2699538218662312,
            -3.5923650262379425,
            -0.10869448179362529,
            6.782974041426915,
            -1.5331787896064597,
            2.2865615067937384,
            0.5884392069761546
          ],
          "torque": [
            52.7490234375,
            -4.34326171875,
            7.025146484375,
            1.4892578125,
            2.109375,
            2.60009765625,
            0.59051513671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.0,
            -9.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.0,
            -9.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.1,
            -2.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.1,
            -2.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 948,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3329607242417408,
          -0.6900990554204077,
          -0.07353948680396519,
          -1.2285798203788207,
          0.20716978871218575,
          -0.37016259565939585,
          0.09326377264686371
        ],
        "act_joint_pos_r": [
          -0.2914578631759635,
          -1.3208494409973284,
          0.12078608966549886,
          -0.33939869479547174,
          -0.12978409564207682,
          0.9532900474294549,
          -0.1556005568809989
        ],
        "act_eef_pose_l": [
          554.6366875079824,
          267.18389076978366,
          44.90283144788788,
          1.8223088013098128,
          -0.06395790258488344,
          0.8139008589315245
        ],
        "act_eef_pose_r": [
          627.6830644042035,
          -111.8651481268787,
          43.24174334691975,
          1.706532309418345,
          -0.05507122309954817,
          2.6189506737036705
        ],
        "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": [
          0.3294937410479152,
          -0.6896715058178542,
          -0.07372233115860725,
          -1.2426267475109192,
          0.22440995947278392,
          -0.3621170903797957,
          0.07496789907681671
        ],
        "joint_pos_r": [
          -0.2934058642131963,
          -1.2946016004408403,
          0.12157093505275171,
          -0.38877871480191944,
          -0.11723567067746087,
          0.9378666617870078,
          -0.16138381544765165
        ],
        "eef_pose_l": [
          553.286057177929,
          263.632953817279,
          46.703955010422476,
          1.8229287218034984,
          -0.0638924825335038,
          0.8090279782854828
        ],
        "eef_pose_r": [
          624.4540535163721,
          -114.16954893016718,
          47.087396256208905,
          1.6927918590677402,
          -0.05383756193930754,
          2.6244433011239034
        ],
        "joint_status_l": {
          "velocity": [
            0.3744231419124944,
            -0.046173995246867605,
            0.019746607906268032,
            1.5170233880539286,
            -1.8618835288253255,
            -0.868888943687196,
            1.97589606962556
          ],
          "torque": [
            -22.85888671875,
            4.65087890625,
            -13.482666015625,
            0.0732421875,
            -3.2720947265625,
            -1.116943359375,
            0.604248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.21037790725664252,
            -2.8346831755889923,
            -0.08476080193708935,
            5.332884875664856,
            -1.3551899269881318,
            1.6656765228812986,
            0.6245735043877154
          ],
          "torque": [
            53.56201171875,
            -5.64697265625,
            5.28564453125,
            -2.435302734375,
            2.1844482421875,
            2.6568603515625,
            0.6646728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -15.7,
            -5.1,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -15.7,
            -5.1,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.0,
            -17.7,
            -0.6,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.0,
            -17.7,
            -0.6,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 938,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3328474808406867,
          -0.6873094890522495,
          -0.07378506845460331,
          -1.235585837955887,
          0.2066789900908221,
          -0.3668488701043841,
          0.0944947989763264
        ],
        "act_joint_pos_r": [
          -0.2919910521502089,
          -1.3181354529540368,
          0.12087817258576343,
          -0.34579009580740294,
          -0.1299489104655449,
          0.9456597146452188,
          -0.15542437107444093
        ],
        "act_eef_pose_l": [
          553.6422875079824,
          266.6998907697837,
          45.640431447888034,
          1.8210016616845346,
          -0.06513193543886442,
          0.8129617086354732
        ],
        "act_eef_pose_r": [
          628.0446644042036,
          -112.30194812687864,
          43.05694334691975,
          1.7073157856369223,
          -0.054398350589581285,
          2.615038796150561
        ],
        "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": [
          0.3300524331382109,
          -0.6894643281939772,
          -0.07371669922812131,
          -1.241014353160078,
          0.2215269384180401,
          -0.36311013354165556,
          0.0780980996490859
        ],
        "joint_pos_r": [
          -0.2930924247497769,
          -1.2990847300541242,
          0.12143751870882163,
          -0.38041931506779547,
          -0.11946391505961974,
          0.9401502490334587,
          -0.16035104859392
        ],
        "eef_pose_l": [
          553.4100741953617,
          264.1668664368849,
          46.478340892594474,
          1.8227092072654645,
          -0.06401127624908448,
          0.8097281438317551
        ],
        "eef_pose_r": [
          625.070752614719,
          -113.7878268494062,
          46.39331741095566,
          1.6952478208827106,
          -0.05400096380078488,
          2.62324720668471
        ],
        "joint_status_l": {
          "velocity": [
            0.3018562490932908,
            0.23271576372252412,
            -0.007383658690685024,
            0.5862623511685428,
            -1.6035311257169838,
            -0.4037716401663616,
            1.770791300644281
          ],
          "torque": [
            -23.935546875,
            6.1669921875,
            -12.95166015625,
            -0.091552734375,
            -3.2098388671875,
            -1.083984375,
            0.6170654296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.11894473266593764,
            -2.057417392908434,
            -0.06040759966341458,
            3.739845379278961,
            -1.1323461070765761,
            0.5950047373426415,
            0.5320654796714397
          ],
          "torque": [
            52.55859375,
            -2.7978515625,
            4.852294921875,
            -2.4169921875,
            2.178955078125,
            1.8621826171875,
            0.699462890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -15.8,
            -6.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -15.8,
            -6.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.4,
            -0.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.4,
            -0.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 957,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32949226317927915,
          -0.6934726398966526,
          -0.07324169695384182,
          -1.2195889606762902,
          0.2027783181104869,
          -0.37909100863140804,
          0.0969292667899674
        ],
        "act_joint_pos_r": [
          -0.2914398841063335,
          -1.3177925040511136,
          0.12088218420493915,
          -0.3445018661212651,
          -0.12757883422995464,
          0.9454151660946527,
          -0.15602253625324536
        ],
        "act_eef_pose_l": [
          555.9686875079824,
          267.1654907697837,
          46.36363144788771,
          1.8193918899267654,
          -0.06442586341266944,
          0.8109821474702441
        ],
        "act_eef_pose_r": [
          628.5454644042035,
          -112.97554812687866,
          43.6473433469198,
          1.7056565311573275,
          -0.05454647271990779,
          2.6128216599834717
        ],
        "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": [
          0.3302688898022235,
          -0.6894029196186315,
          -0.0737083903343837,
          -1.2399300408383724,
          0.2197364243063223,
          -0.3638930402978331,
          0.08002014125437076
        ],
        "joint_pos_r": [
          -0.2928855016210853,
          -1.30195180896849,
          0.12135290196046178,
          -0.3750698861228479,
          -0.12088459920314922,
          0.9409689264643051,
          -0.15964633190914382
        ],
        "eef_pose_l": [
          553.5053580723485,
          264.4655515934014,
          46.40244171944235,
          1.8224801070457766,
          -0.06411133361546749,
          0.8100299397542173
        ],
        "eef_pose_r": [
          625.5707956808873,
          -113.61018034281456,
          45.927340285592635,
          1.6969528246506393,
          -0.05407011608253649,
          2.621842590969055
        ],
        "joint_status_l": {
          "velocity": [
            -0.08387320157021705,
            -0.43951682716958373,
            0.05040139858880632,
            2.1967718671813685,
            -1.83142145426185,
            -1.6413321715211815,
            1.826131698968947
          ],
          "torque": [
            -22.8662109375,
            6.84814453125,
            -12.95166015625,
            -0.384521484375,
            -3.0889892578125,
            -1.2359619140625,
            0.5694580078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15612208701876185,
            -1.7107446132076376,
            -0.05083601826827433,
            3.301248795042344,
            -0.7229560604457008,
            0.4801797179334599,
            0.3913583883383698
          ],
          "torque": [
            52.47802734375,
            -3.369140625,
            8.599853515625,
            -0.177001953125,
            2.3785400390625,
            2.080078125,
            0.74432373046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.4,
            -15.9,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -15.9,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.8,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.8,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -192,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 971,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3288170407184818,
          -0.6971614521316016,
          -0.07293980248912167,
          -1.2116573565144753,
          0.20027248620832153,
          -0.3835218137818102,
          0.09962167415317186
        ],
        "act_joint_pos_r": [
          -0.2907967628260155,
          -1.3184812355248625,
          0.12084312097130895,
          -0.33923742072524704,
          -0.12428601872790335,
          0.9483804577757208,
          -0.1568862012244438
        ],
        "act_eef_pose_l": [
          557.1950875079824,
          267.26629076978367,
          46.19723144788787,
          1.8190304947393792,
          -0.06458605800492877,
          0.8107272445050089
        ],
        "act_eef_pose_r": [
          629.1438644042034,
          -113.96514812687866,
          44.25294334691989,
          1.70344276194278,
          -0.05531849977270992,
          2.6107371204749845
        ],
        "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": [
          0.3300547304823353,
          -0.6905380924303741,
          -0.07358861725451682,
          -1.2351585605744948,
          0.21611120339867856,
          -0.3673296534619774,
          0.08365153712408002
        ],
        "joint_pos_r": [
          -0.2925659361026093,
          -1.3048210818473074,
          0.12126578967151251,
          -0.3691415740726476,
          -0.12174067567247172,
          0.9420500023488882,
          -0.1590915189835112
        ],
        "eef_pose_l": [
          554.1089574580645,
          265.01563974212524,
          46.368734412314694,
          1.8218760903906628,
          -0.06417138663953033,
          0.81018932432843
        ],
        "eef_pose_r": [
          626.1683992023553,
          -113.5956939331479,
          45.58178680056952,
          1.6982673870566538,
          -0.05423157416832032,
          2.6200412578590884
        ],
        "joint_status_l": {
          "velocity": [
            -0.1336665522120306,
            -0.7153017510344029,
            0.07006992806057877,
            2.5380551825460174,
            -1.7105310071434676,
            -1.748701739340941,
            1.7247239311286577
          ],
          "torque": [
            -31.73583984375,
            0.90087890625,
            -9.320068359375,
            -0.689697265625,
            -3.299560546875,
            -1.373291015625,
            0.69488525390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.19106507870914058,
            -1.4752530869124314,
            -0.04564687333941109,
            3.2295533109363284,
            -0.2748889425705503,
            0.6836690223570585,
            0.2381672936104806
          ],
          "torque": [
            52.3681640625,
            -4.88525390625,
            5.938720703125,
            -0.909423828125,
            2.3236083984375,
            2.0928955078125,
            0.80291748046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.6,
            -7.9,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -15.6,
            -7.9,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.1,
            -0.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.1,
            -0.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 950,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32841258027919584,
          -0.6989915626001213,
          -0.07276900925756191,
          -1.2056539767648993,
          0.19907078432281133,
          -0.39132284257155314,
          0.10177273759249893
        ],
        "act_joint_pos_r": [
          -0.2912032730612228,
          -1.3151248211602216,
          0.12092836158623786,
          -0.343413684667033,
          -0.1216950338345093,
          0.9461182867677667,
          -0.15667246847252586
        ],
        "act_eef_pose_l": [
          557.4534875079823,
          267.24229076978366,
          46.03163144788783,
          1.8190805899793423,
          -0.06450838644076938,
          0.8069334250334073
        ],
        "act_eef_pose_r": [
          629.1878644042035,
          -115.00114812687866,
          44.59454334691986,
          1.701662292053031,
          -0.0566983046936774,
          2.6087459066822403
        ],
        "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": [
          0.329822097752464,
          -0.6917588960407994,
          -0.07346964064231869,
          -1.2308622180521256,
          0.2134207473521913,
          -0.37055403691959043,
          0.08643204860718193
        ],
        "joint_pos_r": [
          -0.292277368516694,
          -1.3070246101249325,
          0.12119550840666461,
          -0.36395984168612194,
          -0.12192946583834371,
          0.9429914233885504,
          -0.1586505139487709
        ],
        "eef_pose_l": [
          554.6381391325006,
          265.3831097589926,
          46.317968331925556,
          1.8214548686410024,
          -0.06421983251676094,
          0.809996383278908
        ],
        "eef_pose_r": [
          626.744333349791,
          -113.78139195807398,
          45.36704079078348,
          1.699043530083681,
          -0.05459506599065599,
          2.6180587128624975
        ],
        "joint_status_l": {
          "velocity": [
            -0.15222339752396508,
            -0.7811049509474088,
            0.07566595790564623,
            2.7224097658358204,
            -1.5497502997312562,
            -2.24296485769937,
            1.6567455473162074
          ],
          "torque": [
            -33.80126953125,
            2.76123046875,
            -8.856201171875,
            -0.146484375,
            -3.2208251953125,
            -1.4739990234375,
            0.63812255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.11599888798663471,
            -0.8747969910523068,
            -0.028851005691166165,
            2.2189195145285723,
            0.025317909702282648,
            0.3376912852823821,
            0.21362261097257473
          ],
          "torque": [
            52.5146484375,
            -3.0322265625,
            5.084228515625,
            -0.701904296875,
            3.4698486328125,
            2.0306396484375,
            0.889892578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.4,
            -7.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -15.4,
            -7.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.3,
            -1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.3,
            -1.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -173,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 914,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3280391399902384,
          -0.699623195389168,
          -0.07270362941579586,
          -1.202922724080086,
          0.20035474016017474,
          -0.3950271221532671,
          0.10156255022717062
        ],
        "act_joint_pos_r": [
          -0.29181322088151473,
          -1.3117052426776357,
          0.12102253447544334,
          -0.3489173990575726,
          -0.12033139409685979,
          0.944052232613814,
          -0.15701423368460724
        ],
        "act_eef_pose_l": [
          557.5454875079824,
          267.34629076978365,
          45.934031447888,
          1.8196987026741323,
          -0.06508216789638752,
          0.8050646734466366
        ],
        "act_eef_pose_r": [
          628.8822644042034,
          -115.61634812687868,
          44.73774334691984,
          1.7005500982387276,
          -0.057074660468415576,
          2.60849519549325
        ],
        "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": [
          0.32955118267841105,
          -0.6930743963391204,
          -0.07334196391473283,
          -1.2262464765603198,
          0.21095816364662293,
          -0.37444139125281106,
          0.08913219744607186
        ],
        "joint_pos_r": [
          -0.2921481279939153,
          -1.3081166664670059,
          0.12115764152843843,
          -0.3608745364620142,
          -0.12175238158612486,
          0.9433387786260354,
          -0.15833477262530732
        ],
        "eef_pose_l": [
          555.1449628616753,
          265.71722111555954,
          46.250812577751475,
          1.8211143977979336,
          -0.06429132490310005,
          0.8093393608392536
        ],
        "eef_pose_r": [
          627.1496123681372,
          -114.05721668371285,
          45.243855990695806,
          1.6993957512707385,
          -0.055006594475776535,
          2.6163878439818142
        ],
        "joint_status_l": {
          "velocity": [
            -0.1632957941706259,
            -0.7072494381974437,
            0.06893809266483863,
            2.5188909771483026,
            -1.1451359625567203,
            -2.2231933676657434,
            1.3424385072513534
          ],
          "torque": [
            -36.29150390625,
            1.6552734375,
            -8.65478515625,
            0.604248046875,
            -3.4405517578125,
            -1.4556884765625,
            0.6390380859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.03616890139435114,
            -0.387554800431289,
            -0.014591131381136435,
            1.291332753855734,
            0.15346212271727389,
            0.07705075818886797,
            0.14261399942050446
          ],
          "torque": [
            50.068359375,
            -2.7685546875,
            4.669189453125,
            -0.665283203125,
            4.3084716796875,
            2.032470703125,
            0.88165283203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.9,
            -6.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -15.9,
            -6.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.0,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.0,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 906,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33020824100054846,
          -0.6842182586124986,
          -0.07406029054079633,
          -1.2432788589980086,
          0.21592467577258537,
          -0.3701651171848214,
          0.08741600397813924
        ],
        "act_joint_pos_r": [
          -0.29306086523839386,
          -1.3071732730754697,
          0.12114881381418373,
          -0.3563251760909533,
          -0.11566227511942362,
          0.9399812215935444,
          -0.15753872643225847
        ],
        "act_eef_pose_l": [
          551.8862875079824,
          265.2486907697837,
          47.18203144788782,
          1.821083699299892,
          -0.0670539700720653,
          0.8048717528712427
        ],
        "act_eef_pose_r": [
          628.7142644042035,
          -116.53234812687867,
          45.06014334691963,
          1.6973079655594767,
          -0.05935016971031074,
          2.6063872816042863
        ],
        "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": [
          0.32942174652082606,
          -0.6932016393051497,
          -0.07331911266487876,
          -1.2247471704106094,
          0.21007634302500475,
          -0.3765402636621436,
          0.09046200430715816
        ],
        "joint_pos_r": [
          -0.2922380137849899,
          -1.3082671454662125,
          0.12114638758843264,
          -0.3594036871244925,
          -0.12087823321859062,
          0.9429692070759671,
          -0.1581353307281244
        ],
        "eef_pose_l": [
          555.194230216722,
          265.8740478722552,
          46.27418646753631,
          1.8209712532984266,
          -0.06457554155382102,
          0.8085138426913261
        ],
        "eef_pose_r": [
          627.4783869803217,
          -114.48482971979476,
          45.18285847885656,
          1.6992172216909385,
          -0.05570941118596831,
          2.61453514930518
        ],
        "joint_status_l": {
          "velocity": [
            0.08493889867100535,
            0.9701765009806351,
            -0.08004484980239646,
            -2.001363340381701,
            0.6316013086538064,
            0.6884955134616177,
            -0.32895833342660996
          ],
          "torque": [
            -29.97802734375,
            2.548828125,
            -17.938232421875,
            -5.23681640625,
            -1.417236328125,
            -0.428466796875,
            -0.3076171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.08886533602447955,
            0.11813473400223984,
            0.00026202465308600154,
            0.3324693859618755,
            0.563306860862367,
            -0.3226929147830404,
            0.06443136365197333
          ],
          "torque": [
            45.2783203125,
            1.1865234375,
            4.840087890625,
            -1.287841796875,
            4.7552490234375,
            0.57861328125,
            0.94573974609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            1.7,
            -16.2,
            -10.2,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            1.7,
            -16.2,
            -10.2,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.4,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.4,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 940,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3302451921197269,
          -0.6859854253933828,
          -0.07390337137226737,
          -1.2387000874974634,
          0.21814837427127237,
          -0.3742090017456458,
          0.08471791280923303
        ],
        "act_joint_pos_r": [
          -0.2958501569017744,
          -1.3041032821000054,
          0.12122458217571097,
          -0.3594931280741908,
          -0.11577380735870157,
          0.9385587905704342,
          -0.15746168910851593
        ],
        "act_eef_pose_l": [
          552.2606875079824,
          265.33989076978366,
          46.590031447887725,
          1.822588564801347,
          -0.06571369373487906,
          0.8036969005824227
        ],
        "act_eef_pose_r": [
          628.2230644042035,
          -117.62834812687868,
          43.42894334691982,
          1.6989332786162057,
          -0.0612466870737624,
          2.6050101851873944
        ],
        "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": [
          0.3295735967185647,
          -0.691655221894999,
          -0.07344574562810308,
          -1.22785709497005,
          0.21137287901960436,
          -0.3756824370906696,
          0.08965446942577568
        ],
        "joint_pos_r": [
          -0.29273501216329706,
          -1.307686854098543,
          0.12115636502452976,
          -0.35925861123994585,
          -0.11997006346043136,
          0.942261648923382,
          -0.15802013769718798
        ],
        "eef_pose_l": [
          554.6029821623029,
          265.7643210830668,
          46.393273623836876,
          1.8211256100764346,
          -0.06492632392936416,
          0.8077236090599896
        ],
        "eef_pose_r": [
          627.636344323744,
          -114.98388372627836,
          44.95613631455993,
          1.6990798489403292,
          -0.056592664681307345,
          2.6129215982442417
        ],
        "joint_status_l": {
          "velocity": [
            0.07253016416219893,
            0.6123199627632303,
            -0.049422122742059926,
            -1.171008655905581,
            0.7317319059010341,
            0.15912632408232597,
            -0.5331323906871965
          ],
          "torque": [
            -30.27099609375,
            9.11865234375,
            -13.34228515625,
            -4.57763671875,
            -0.7379150390625,
            0.6005859375,
            -0.457763671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.33642570940983774,
            0.3870143614648214,
            0.0073672350425768585,
            -0.02532707111635446,
            0.45318229308954905,
            -0.39989690778963194,
            0.060310668808627454
          ],
          "torque": [
            34.7900390625,
            2.80517578125,
            5.4443359375,
            -3.0517578125,
            4.7698974609375,
            0.4010009765625,
            0.89263916015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -15.4,
            -7.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -15.4,
            -7.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.0,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.0,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 984,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3302617167975009,
          -0.6959792396555841,
          -0.07301545216755702,
          -1.2118811230867692,
          0.20820992948902298,
          -0.39215285919223153,
          0.09528994269641326
        ],
        "act_joint_pos_r": [
          -0.2959818390912856,
          -1.307921313473075,
          0.12112030408245045,
          -0.3538172944333891,
          -0.12259209995947053,
          0.9396823610452054,
          -0.1485597759903298
        ],
        "act_eef_pose_l": [
          555.5582875079824,
          266.66789076978364,
          44.918831447887726,
          1.82297141941814,
          -0.06455758875641937,
          0.8021972328349177
        ],
        "act_eef_pose_r": [
          628.3294644042035,
          -116.91154812687864,
          41.90574334691996,
          1.7049292875891773,
          -0.06680993388930637,
          2.6044958154786806
        ],
        "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": [
          0.32967602890858266,
          -0.6910892893714884,
          -0.07348902648389773,
          -1.2287121243617605,
          0.2121082840106306,
          -0.37598793607346376,
          0.08921689052757191
        ],
        "joint_pos_r": [
          -0.293002559043523,
          -1.3073790759409394,
          0.12116222391312359,
          -0.3592787529195882,
          -0.11960966440263482,
          0.941943625754823,
          -0.1579721748607199
        ],
        "eef_pose_l": [
          554.3640141999961,
          265.75285667944524,
          46.35092974787011,
          1.8213871992879922,
          -0.06500405665162022,
          0.8069949616369152
        ],
        "eef_pose_r": [
          627.6873482660402,
          -115.21059133540939,
          44.82521230888403,
          1.6990651069872438,
          -0.05699276039797135,
          2.6122424765447527
        ],
        "joint_status_l": {
          "velocity": [
            0.06325242647253759,
            -0.528099055233433,
            0.051144517737911066,
            1.8176945276646705,
            -0.4210098713113286,
            -1.7457602083816859,
            0.6558702903746161
          ],
          "torque": [
            -29.6923828125,
            8.47412109375,
            -14.044189453125,
            -5.6640625,
            -0.5859375,
            0.523681640625,
            -0.43487548828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.30753149853435247,
            0.3537753007769595,
            0.0067344937361157875,
            -0.023151833870027616,
            0.41426034278913004,
            -0.3655514185512132,
            0.05513083524100182
          ],
          "torque": [
            33.22998046875,
            1.69921875,
            5.56640625,
            -3.3203125,
            4.8101806640625,
            0.391845703125,
            0.9246826171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -15.8,
            -7.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -15.8,
            -7.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.0,
            -0.7,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.0,
            -0.7,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 957,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32993919524519905,
          -0.6979337466343947,
          -0.07285187064180648,
          -1.207244183441266,
          0.20752378262714963,
          -0.39559249585915957,
          0.09661881784118212
        ],
        "act_joint_pos_r": [
          -0.29714712154933715,
          -1.30387389060064,
          0.12125426388176788,
          -0.3637756378632809,
          -0.12956323962703742,
          0.9316682084840188,
          -0.14253824148851477
        ],
        "act_eef_pose_l": [
          556.1238875079823,
          266.72629076978365,
          44.73643144788781,
          1.8231201521284957,
          -0.06488604732373539,
          0.8012679282537453
        ],
        "act_eef_pose_r": [
          627.8566644042035,
          -117.08274812687864,
          40.517743346919815,
          1.7108055621904459,
          -0.06845850312271243,
          2.6029001617590852
        ],
        "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": [
          0.32976542255085717,
          -0.6920396899055135,
          -0.07339811221649067,
          -1.2255326684976888,
          0.21138889562123175,
          -0.3789970539363183,
          0.09034900390786937
        ],
        "joint_pos_r": [
          -0.2934923387889531,
          -1.3074682172623957,
          0.12115533248846165,
          -0.3583809146149756,
          -0.12009996289904039,
          0.9415718843823869,
          -0.15642482038288502
        ],
        "eef_pose_l": [
          554.5877596209258,
          265.9055512227453,
          46.10476466224685,
          1.8216651378152604,
          -0.06494499546905311,
          0.8061643424915541
        ],
        "eef_pose_r": [
          627.7944901897164,
          -115.4894724351395,
          44.34543383638288,
          1.7000260942424725,
          -0.05861043887438614,
          2.6109756488161557
        ],
        "joint_status_l": {
          "velocity": [
            0.01876689748891991,
            -0.6365393529943475,
            0.05899235017947646,
            1.9750981336894569,
            -0.4174198922193284,
            -1.7922548679352168,
            0.677119934212711
          ],
          "torque": [
            -30.7177734375,
            2.8271484375,
            -12.799072265625,
            0.28076171875,
            -2.999267578125,
            -1.3751220703125,
            0.53192138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2688581031060622,
            -0.0489329475517053,
            -0.00378295627689873,
            0.49285644358754155,
            -0.26914286458190606,
            -0.2040625019139597,
            0.849399742689716
          ],
          "torque": [
            33.61083984375,
            -0.40283203125,
            5.462646484375,
            -0.738525390625,
            2.823486328125,
            0.2655029296875,
            1.05010986328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.0,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.0,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 1005,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3295599975287051,
          -0.6990878123655416,
          -0.07275181382943882,
          -1.2041265248148683,
          0.20775692211474361,
          -0.39935302160174135,
          0.09707424873923517
        ],
        "act_joint_pos_r": [
          -0.3004112553501037,
          -1.2893486303552495,
          0.12173726096136643,
          -0.39672816687749723,
          -0.13221119326000785,
          0.9143609319992064,
          -0.1387342351590509
        ],
        "act_eef_pose_l": [
          556.3158875079823,
          266.65109076978365,
          44.666831447888,
          1.8233505063845052,
          -0.0650873025313705,
          0.7993284857631554
        ],
        "act_eef_pose_r": [
          625.7182644042034,
          -117.38914812687864,
          39.94174334691979,
          1.7120306183092173,
          -0.07010459875334332,
          2.6037452938274215
        ],
        "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": [
          0.32975548229249224,
          -0.6932841132087632,
          -0.07328356161155034,
          -1.221723661300608,
          0.21068455406859057,
          -0.38255855614510587,
          0.09158562332844905
        ],
        "joint_pos_r": [
          -0.29432821322080865,
          -1.3059886503379141,
          0.12120089124707378,
          -0.3612496114223484,
          -0.12192702179907985,
          0.9388151091040963,
          -0.1537485064992907
        ],
        "eef_pose_l": [
          554.9033854897684,
          266.05192017656157,
          45.8347434651964,
          1.8219790142005543,
          -0.06495691457285338,
          0.8050187073020277
        ],
        "eef_pose_r": [
          627.6872810263069,
          -115.78751775174356,
          43.63005854658104,
          1.7020135445637021,
          -0.06047135286583671,
          2.609615083840433
        ],
        "joint_status_l": {
          "velocity": [
            -0.0211117318320575,
            -0.6267810230138338,
            0.05742706674727316,
            1.9004346901354552,
            -0.3161749259343871,
            -1.8137487756555437,
            0.592754062018308
          ],
          "torque": [
            -30.849609375,
            1.6552734375,
            -8.782958984375,
            -0.1220703125,
            -3.0889892578125,
            -1.42822265625,
            0.48980712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6569491742833833,
            1.7970691564066499,
            0.057926220700998954,
            -3.831570983010568,
            -1.1106577606804224,
            -2.6409732359864435,
            1.6214934813520987
          ],
          "torque": [
            32.43896484375,
            7.33154296875,
            9.063720703125,
            -9.307861328125,
            2.4224853515625,
            -0.5419921875,
            0.89996337890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -15.5,
            -6.4,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.3,
            -15.5,
            -6.4,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.5,
            -0.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.5,
            -0.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 914,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3295027230210577,
          -0.6991572434501531,
          -0.0727778015732272,
          -1.206737248092457,
          0.21253774056297958,
          -0.3988600072332821,
          0.09486184887216297
        ],
        "act_joint_pos_r": [
          -0.29987102489208706,
          -1.2892589820945684,
          0.12174144474865495,
          -0.39690764793109046,
          -0.13836309993862672,
          0.9212541808112685,
          -0.1349846889464763
        ],
        "act_eef_pose_l": [
          555.8078875079824,
          265.77429076978365,
          44.53243144788786,
          1.8245999579966985,
          -0.06689510197960744,
          0.7965542857941057
        ],
        "act_eef_pose_r": [
          624.3814644042035,
          -116.68434812687866,
          39.61934334691978,
          1.7151001088306905,
          -0.0707108722332626,
          2.611287737750255
        ],
        "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": [
          0.32971764868848524,
          -0.6942451202604288,
          -0.07319872963228168,
          -1.219090450250146,
          0.21067879010551402,
          -0.3852704501679403,
          0.09226787094727522
        ],
        "joint_pos_r": [
          -0.29537235353342284,
          -1.3030413454714052,
          0.12129596904079361,
          -0.36753294789997987,
          -0.1241028357480807,
          0.9348919702140381,
          -0.15087597177646891
        ],
        "eef_pose_l": [
          555.0875037624944,
          266.0628271365756,
          45.62829518482846,
          1.8223311173355026,
          -0.06516108081954229,
          0.8038074168780849
        ],
        "eef_pose_r": [
          627.2728649721457,
          -116.02881704069544,
          42.94963318687232,
          1.7039826444894166,
          -0.06224262264012229,
          2.609034740093859
        ],
        "joint_status_l": {
          "velocity": [
            -0.023211287501823108,
            -0.5304936584158426,
            0.045458889639582445,
            1.3341064856629004,
            0.2007607282850099,
            -1.4676288776569457,
            0.28014135356024816
          ],
          "torque": [
            -31.14990234375,
            0.62255859375,
            -12.7685546875,
            0.3173828125,
            -1.219482421875,
            -1.4996337890625,
            0.51177978515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4858421775861821,
            1.4884513451729475,
            0.048109957521580426,
            -3.1723740391886857,
            -1.5400631108454244,
            -1.4728378164701184,
            1.716207928792013
          ],
          "torque": [
            33.52294921875,
            2.84912109375,
            6.549072265625,
            -5.853271484375,
            2.1038818359375,
            0.76171875,
            0.75897216796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.1,
            -7.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.1,
            -7.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.4,
            -0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.4,
            -0.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 935,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3286133699077259,
          -0.7000069405804377,
          -0.07271964312419885,
          -1.2058026156568968,
          0.21149053730093442,
          -0.4003132133159137,
          0.09504565322650343
        ],
        "act_joint_pos_r": [
          -0.2971524812060537,
          -1.2977309471812613,
          0.12147107404347657,
          -0.37979260736579995,
          -0.14796438024164527,
          0.9340233004285015,
          -0.12969566100345184
        ],
        "act_eef_pose_l": [
          555.9886875079824,
          265.3966907697836,
          45.010831447887824,
          1.8235690401839844,
          -0.06635510477610271,
          0.7955049511928061
        ],
        "act_eef_pose_r": [
          624.5094644042035,
          -115.57314812687866,
          38.99214334691965,
          1.7216594878248874,
          -0.07058870475492313,
          2.6165700227536424
        ],
        "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": [
          0.32961819199656417,
          -0.6951139150530508,
          -0.07312533769658129,
          -1.2169922527940102,
          0.21090888770489186,
          -0.3876092886716257,
          0.09270756143596973
        ],
        "joint_pos_r": [
          -0.2960647952369995,
          -1.3009282718277113,
          0.12136446928379115,
          -0.37209130406078866,
          -0.12735648277363626,
          0.9330559331389694,
          -0.14756458580990145
        ],
        "eef_pose_l": [
          555.2207243323985,
          265.98783251426295,
          45.482298280678606,
          1.8226288955218022,
          -0.06541001105362677,
          0.8025396992806887
        ],
        "eef_pose_r": [
          626.7395966840999,
          -116.08473516404975,
          42.27841529128125,
          1.7064745372177608,
          -0.06385468471566894,
          2.609793327818138
        ],
        "joint_status_l": {
          "velocity": [
            -0.10851758503926945,
            -0.5284311717135282,
            0.04381372160067176,
            1.2084451696239285,
            0.06281630370463809,
            -1.3719833970955442,
            0.2525064660974241
          ],
          "torque": [
            -35.185546875,
            0.791015625,
            -11.431884765625,
            0.054931640625,
            -1.109619140625,
            -1.395263671875,
            0.52734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.11746662016509646,
            0.3453008777114519,
            0.011512974488869787,
            -0.831716226782131,
            -2.2255872863566895,
            0.10447258601420373,
            1.929786963072333
          ],
          "torque": [
            33.64013671875,
            1.85302734375,
            7.373046875,
            -2.89306640625,
            1.9024658203125,
            1.7431640625,
            0.6427001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.0,
            -7.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -7.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.3,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.3,
            0.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 969,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3285532650452376,
          -0.6891532771347961,
          -0.0736984590930314,
          -1.2369764260954372,
          0.22215267432791255,
          -0.38048645015626525,
          0.08112072106694183
        ],
        "act_joint_pos_r": [
          -0.2986978602594123,
          -1.3039702404687534,
          0.12125375303830858,
          -0.3631471896079806,
          -0.14941834763941264,
          0.9406933360959087,
          -0.13168798953885144
        ],
        "act_eef_pose_l": [
          552.0646875079824,
          263.2582907697837,
          47.00203144788799,
          1.8225931359122431,
          -0.0649423141267916,
          0.7961829655683771
        ],
        "act_eef_pose_r": [
          625.3406644042035,
          -116.35474812687869,
          36.724143346919845,
          1.7255805983215244,
          -0.07051109433949311,
          2.6134923773526006
        ],
        "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": [
          0.3294470255889943,
          -0.6948387437942986,
          -0.07315600152977332,
          -1.2182534380114487,
          0.21206501980770112,
          -0.38772568161717436,
          0.09170688662074862
        ],
        "joint_pos_r": [
          -0.29640313442223715,
          -1.3008597259761812,
          0.1213659567350765,
          -0.3721175299482659,
          -0.13137701475479965,
          0.9338116631653043,
          -0.14435780930518735
        ],
        "eef_pose_l": [
          554.9593461750856,
          265.6772463611229,
          45.60082640931307,
          1.8226935834043227,
          -0.06542095191501995,
          0.801448777711176
        ],
        "eef_pose_r": [
          626.3914483564655,
          -116.049260530763,
          41.463410052881926,
          1.7096708087008479,
          -0.06511075715688407,
          2.610838074783872
        ],
        "joint_status_l": {
          "velocity": [
            -0.09652329192366693,
            0.6140122899020994,
            -0.058583688998248284,
            -2.022023076687418,
            1.089434557028035,
            0.781813939408682,
            -1.1432721608012342
          ],
          "torque": [
            -36.42333984375,
            7.18505859375,
            -17.144775390625,
            -4.6875,
            -0.816650390625,
            0.5914306640625,
            -0.4193115234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2478230812639204,
            -0.3359256575983238,
            -0.012117641860265316,
            0.9687681844607887,
            -1.948406486360632,
            0.7431987570285514,
            1.3683001789075444
          ],
          "torque": [
            32.32177734375,
            -0.90087890625,
            7.061767578125,
            -2.508544921875,
            2.1331787109375,
            2.120361328125,
            0.84503173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -15.9,
            -7.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -15.9,
            -7.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.8,
            0.9,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.8,
            0.9,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -293,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 955,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3294235611906813,
          -0.6984383264869573,
          -0.07295234916966252,
          -1.2186470618213319,
          0.21431555957948092,
          -0.3872364199604841,
          0.08585781504926229
        ],
        "act_joint_pos_r": [
          -0.29861526549234707,
          -1.3123479488137935,
          0.12099840855455152,
          -0.3458340178695463,
          -0.15708331524774577,
          0.9404312478243763,
          -0.13044601407425455
        ],
        "act_eef_pose_l": [
          555.0246875079823,
          263.53749076978363,
          45.346831447888064,
          1.8227808391214124,
          -0.060974902086857456,
          0.7990074844230128
        ],
        "act_eef_pose_r": [
          627.2342644042035,
          -116.72674812687865,
          34.21534334691978,
          1.7346949662192759,
          -0.06792585054149601,
          2.60584350516176
        ],
        "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": [
          0.32938553842596896,
          -0.6947179047333217,
          -0.07317760992373683,
          -1.2195344446658223,
          0.21290218288232715,
          -0.3872060780683478,
          0.09057691118443285
        ],
        "joint_pos_r": [
          -0.2967755770838167,
          -1.3018579068849294,
          0.12133267295750026,
          -0.3696367831398335,
          -0.13478833536344295,
          0.934927748207975,
          -0.14220277909613663
        ],
        "eef_pose_l": [
          554.7717873016364,
          265.360849424412,
          45.67515239347489,
          1.822697112335682,
          -0.06506571988999275,
          0.8009193711106092
        ],
        "eef_pose_r": [
          626.3344268587078,
          -116.11585844023618,
          40.539800004589466,
          1.7128014344806088,
          -0.06583255249791206,
          2.6108470399095216
        ],
        "joint_status_l": {
          "velocity": [
            0.004106337478937405,
            -0.4017936991207449,
            0.024327443940430626,
            0.09583452071737497,
            0.1526401814109235,
            -0.003276827706066854,
            -0.5096473513532818
          ],
          "torque": [
            -33.37646484375,
            2.60009765625,
            -11.6943359375,
            -1.953125,
            -0.479736328125,
            0.0677490234375,
            -0.487060546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.19868048835336438,
            -1.1328911154802057,
            -0.0360994908209511,
            2.570622832723135,
            -2.4077868136285208,
            0.594360428847196,
            1.2696931747648854
          ],
          "torque": [
            32.40234375,
            -4.248046875,
            6.94580078125,
            1.2451171875,
            2.04345703125,
            2.1148681640625,
            0.87890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -15.9,
            -7.1,
            1.3,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -15.9,
            -7.1,
            1.3,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.1,
            -0.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.1,
            -0.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 938,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32798319461112696,
          -0.707482497541807,
          -0.07214986447662436,
          -1.192005570634,
          0.20656721556010846,
          -0.4056525838918397,
          0.09257206631393637
        ],
        "act_joint_pos_r": [
          -0.29867469419775894,
          -1.3151417507012761,
          0.12091901707428335,
          -0.3406042537138833,
          -0.15851661231173564,
          0.9368538868563913,
          -0.12748188140804048
        ],
        "act_eef_pose_l": [
          558.3742875079823,
          265.2870907697837,
          44.435631447888056,
          1.8228313417601927,
          -0.059161342560981364,
          0.798258118306818
        ],
        "act_eef_pose_r": [
          628.3782644042035,
          -117.03554812687867,
          33.41614334691985,
          1.7374502199506061,
          -0.06972766662281772,
          2.5997563827012073
        ],
        "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": [
          0.3292685540501823,
          -0.6961524729723899,
          -0.07306885984185539,
          -1.2170894205762712,
          0.2124866065865382,
          -0.3887931308195422,
          0.09031919454843708
        ],
        "joint_pos_r": [
          -0.2970847193813576,
          -1.3038976813485583,
          0.1212687626897784,
          -0.36513357818538256,
          -0.13861526336702373,
          0.9354288183666799,
          -0.1399355406576427
        ],
        "eef_pose_l": [
          555.1070119451668,
          265.18975605124393,
          45.53565658933687,
          1.8227252742794071,
          -0.06418411639365663,
          0.8005159750912612
        ],
        "eef_pose_r": [
          626.6228036247535,
          -116.2437988088043,
          39.40968353250531,
          1.7166978176281789,
          -0.06637639280631187,
          2.60935673618022
        ],
        "joint_status_l": {
          "velocity": [
            -0.1388147252967542,
            -1.2236065651496375,
            0.09924857226484285,
            2.7089758967928645,
            -0.6392753764352666,
            -1.8207672311492118,
            0.24330297483621255
          ],
          "torque": [
            -36.2255859375,
            0.703125,
            -8.184814453125,
            0.048828125,
            -2.5982666015625,
            -0.8331298828125,
            0.15106201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.17171221579026508,
            -1.2143236755317588,
            -0.03777141246530391,
            2.6490889122210426,
            -2.1492822963359304,
            0.153902857766397,
            1.3449555316140671
          ],
          "torque": [
            33.12744140625,
            -3.75732421875,
            6.304931640625,
            -0.40283203125,
            1.981201171875,
            2.021484375,
            0.74066162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -15.0,
            -12.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -15.0,
            -12.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -16.7,
            -1.0,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.7,
            -1.0,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 925,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32912946048847325,
          -0.6955981347827731,
          -0.07310647835231897,
          -1.2175885133525939,
          0.21700799097206785,
          -0.39252220463814347,
          0.0825810940334997
        ],
        "act_joint_pos_r": [
          -0.2997975358934144,
          -1.3195586742524665,
          0.12078398629120037,
          -0.3302194371686321,
          -0.16037658024013354,
          0.9322979199425193,
          -0.12477036799758838
        ],
        "act_eef_pose_l": [
          554.4310875079824,
          264.8278907697836,
          45.35003144788794,
          1.8241731572779072,
          -0.05992318022063098,
          0.7977185586325222
        ],
        "act_eef_pose_r": [
          630.1702644042034,
          -118.12754812687865,
          31.425743346919717,
          1.7424021810973584,
          -0.07179637308219174,
          2.589339555559171
        ],
        "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": [
          0.32912402148522646,
          -0.6972735690243735,
          -0.0729772952463103,
          -1.2145448558499687,
          0.21226433715676904,
          -0.3908524786882426,
          0.08988698761490181
        ],
        "joint_pos_r": [
          -0.297511988203507,
          -1.306521645499656,
          0.12118741054541265,
          -0.3593247743173349,
          -0.14258724027325104,
          0.9351841009819444,
          -0.13727536246076547
        ],
        "eef_pose_l": [
          555.3886069307797,
          265.16952311954515,
          45.403324001517774,
          1.822868678262138,
          -0.06329763608379961,
          0.8000411832904653
        ],
        "eef_pose_r": [
          627.1738186702993,
          -116.50724958210233,
          38.05030963054915,
          1.7211688214134642,
          -0.06725999540504152,
          2.606389039138739
        ],
        "joint_status_l": {
          "velocity": [
            0.0005873950259527305,
            0.18094156150727514,
            -0.013951363975417408,
            -0.3287053156384445,
            0.5122995025861332,
            -0.18032508418519555,
            -0.7890132360900415
          ],
          "torque": [
            -33.49365234375,
            8.57666015625,
            -12.774658203125,
            -4.72412109375,
            -1.1114501953125,
            -1.0986328125,
            -0.4119873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.246831870593045,
            -1.4079575798131572,
            -0.04356853446974007,
            3.1432837058624763,
            -1.9211920538924065,
            -0.31169835920685784,
            1.3504995711675072
          ],
          "torque": [
            32.96630859375,
            -3.5009765625,
            5.712890625,
            -0.787353515625,
            2.3785400390625,
            1.080322265625,
            0.5694580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -15.9,
            -3.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -15.9,
            -3.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.8,
            -18.1,
            1.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.8,
            -18.1,
            1.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 923,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3289688916157329,
          -0.6883543548784153,
          -0.07374904990028666,
          -1.2368867539841504,
          0.22725287145399967,
          -0.37943382443462487,
          0.07225209203209604
        ],
        "act_joint_pos_r": [
          -0.2996008439778955,
          -1.331238338242601,
          0.1204318578817136,
          -0.30171997201578743,
          -0.1636027583222908,
          0.9422253335857168,
          -0.12144502223693374
        ],
        "act_eef_pose_l": [
          552.0622875079823,
          263.9718907697836,
          46.42203144788806,
          1.824888738519318,
          -0.06108248891660113,
          0.7989210475658644
        ],
        "act_eef_pose_r": [
          631.9774644042035,
          -119.00514812687868,
          29.209743346919822,
          1.7485251132617257,
          -0.07535962931274087,
          2.582717858142269
        ],
        "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": [
          0.3291178655611048,
          -0.696680084004778,
          -0.07302674562895191,
          -1.2158925436024477,
          0.21349399199085145,
          -0.39055230450646966,
          0.0882324190031328
        ],
        "joint_pos_r": [
          -0.29789652824837815,
          -1.3099884219328704,
          0.12108105722201905,
          -0.35134400093970874,
          -0.14605343759137582,
          0.9356612321215603,
          -0.13473361811985451
        ],
        "eef_pose_l": [
          555.1279139091221,
          265.0756831481308,
          45.44016964704156,
          1.8231202550213392,
          -0.06279080875146605,
          0.7997096099468267
        ],
        "eef_pose_r": [
          627.9149688563753,
          -116.87133983733023,
          36.65573218284956,
          1.7255094190590046,
          -0.0684289469386236,
          2.6027411960958085
        ],
        "joint_status_l": {
          "velocity": [
            -0.016088711589201665,
            0.8991522265704432,
            -0.07800656062362243,
            -2.2673078505537347,
            1.4859151572950147,
            1.200760433223369,
            -1.7258244124018773
          ],
          "torque": [
            -34.482421875,
            7.15576171875,
            -13.39111328125,
            -5.2734375,
            -0.60791015625,
            -1.1920166015625,
            -0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1840606702083747,
            -2.2949232763078697,
            -0.07011146092594789,
            5.359237061535627,
            -1.8952707409163327,
            0.708902050179816,
            1.4351260285757617
          ],
          "torque": [
            30.5126953125,
            -3.6767578125,
            4.18701171875,
            -0.823974609375,
            1.739501953125,
            1.69189453125,
            0.6170654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -15.9,
            -6.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -15.9,
            -6.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -15.4,
            -2.0,
            0.6,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -15.4,
            -2.0,
            0.6,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 904,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3301027451044796,
          -0.6936334419865188,
          -0.0732688774443805,
          -1.2217670001614123,
          0.21631316418620752,
          -0.3907519753616325,
          0.08415773797002983
        ],
        "act_joint_pos_r": [
          -0.29892653335565056,
          -1.340971624920639,
          0.12018007778124169,
          -0.28239880302864395,
          -0.17094989252464468,
          0.9447267494866646,
          -0.11891951031719022
        ],
        "act_eef_pose_l": [
          553.6294875079824,
          264.67989076978364,
          45.255631447887765,
          1.8240225960192813,
          -0.06039833725889644,
          0.7970862617292314
        ],
        "act_eef_pose_r": [
          633.5350644042035,
          -118.90914812687868,
          27.132943346919774,
          1.75687380297347,
          -0.07423899369743936,
          2.576855823446572
        ],
        "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": [
          0.3291714567807424,
          -0.6954868439008577,
          -0.07312866664492743,
          -1.2187710671221001,
          0.215306158353205,
          -0.38926655798215953,
          0.08606996255969777
        ],
        "joint_pos_r": [
          -0.2981066160269906,
          -1.3139158418051422,
          0.12096435816652865,
          -0.3424182271103371,
          -0.14924707947198587,
          0.9368379869312019,
          -0.13253438073335408
        ],
        "eef_pose_l": [
          554.6628738960844,
          264.9181725755956,
          45.538135520938084,
          1.8234066820379031,
          -0.062412078781352284,
          0.7994242605671222
        ],
        "eef_pose_r": [
          628.6847528857314,
          -117.17878495292913,
          35.37169239544542,
          1.729574840217533,
          -0.06940337907869318,
          2.5993022500456187
        ],
        "joint_status_l": {
          "velocity": [
            0.10057617262759777,
            0.20016150330093296,
            -0.015142319742089683,
            -0.3235512256107853,
            0.10875342245353359,
            -0.16042034563756857,
            -0.20651416487449392
          ],
          "torque": [
            -30.8349609375,
            7.84423828125,
            -13.311767578125,
            -5.13916015625,
            -0.3497314453125,
            -0.3204345703125,
            -0.40283203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.08854845989825222,
            -2.9219383985061853,
            -0.08469978352443341,
            6.4819066272057135,
            -2.3438346819781852,
            0.8519612287365419,
            1.470362638917866
          ],
          "torque": [
            29.37744140625,
            -0.05126953125,
            3.521728515625,
            2.362060546875,
            1.0491943359375,
            0.7781982421875,
            0.6170654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.1,
            -5.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.1,
            -5.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -12.1,
            -3.0,
            0.1,
            0.7,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -12.1,
            -3.0,
            0.1,
            0.7,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -299,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 999,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3309671110036607,
          -0.6945417658536451,
          -0.07319266179722761,
          -1.2195917828664173,
          0.20952421298317891,
          -0.3921826068805742,
          0.09173209056459726
        ],
        "act_joint_pos_r": [
          -0.2983128086657527,
          -1.3419325411670258,
          0.12017034174730137,
          -0.2821193311341272,
          -0.17399422981676518,
          0.9428471339822663,
          -0.11786553885990997
        ],
        "act_eef_pose_l": [
          553.8438875079823,
          264.66309076978365,
          45.09003144788795,
          1.8223798705443828,
          -0.06088484419563351,
          0.79675680731202
        ],
        "act_eef_pose_r": [
          633.7822644042035,
          -118.60274812687868,
          26.97134334691964,
          1.7591683316345867,
          -0.07284363273199948,
          2.5761293000441525
        ],
        "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": [
          0.3293625078082402,
          -0.6952220348953462,
          -0.07314837025866792,
          -1.2191680776363363,
          0.21517362406024582,
          -0.3895735681728745,
          0.08608816759947353
        ],
        "joint_pos_r": [
          -0.298199137813242,
          -1.316968892758908,
          0.12087585775358177,
          -0.33564546584318367,
          -0.15169608617073796,
          0.9377281771704258,
          -0.13099804031651832
        ],
        "eef_pose_l": [
          554.5024702468722,
          264.8781990180101,
          45.4841211743354,
          1.8234366397775668,
          -0.062102220952063796,
          0.7990249943549442
        ],
        "eef_pose_r": [
          629.263681271615,
          -117.36687785280563,
          34.43852725934994,
          1.7326327910884276,
          -0.06995020950822424,
          2.596784655865647
        ],
        "joint_status_l": {
          "velocity": [
            0.1732920341299682,
            0.07346688971399118,
            -0.004783345087133739,
            -0.04575881526314163,
            -0.6101184018427741,
            -0.28176787013256543,
            0.6095257032336932
          ],
          "torque": [
            -28.86474609375,
            7.81494140625,
            -13.80615234375,
            -5.16357421875,
            -0.5859375,
            -0.7269287109375,
            -0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.07855640168275002,
            -2.5922186200642017,
            -0.07514202081737587,
            5.750469982924056,
            -2.0793497590787524,
            0.7558235183298123,
            1.304442767444569
          ],
          "torque": [
            28.98193359375,
            -2.8271484375,
            3.558349609375,
            1.654052734375,
            0.9576416015625,
            0.5328369140625,
            0.5877685546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.7,
            -7.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.7,
            -7.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -11.8,
            -3.5,
            0.0,
            0.8,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -11.8,
            -3.5,
            0.0,
            0.8,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 997,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3312453795110438,
          -0.6899793602902691,
          -0.07358486770311977,
          -1.2307439465174745,
          0.21412568235622664,
          -0.3877561774157503,
          0.08655714721638197
        ],
        "act_joint_pos_r": [
          -0.29720946502457984,
          -1.3406392127631044,
          0.12019381091125146,
          -0.282221159263581,
          -0.17417537170263842,
          0.9477682743414142,
          -0.11655362267684231
        ],
        "act_eef_pose_l": [
          551.9814875079824,
          263.90469076978366,
          45.61563144788789,
          1.8226183183981828,
          -0.060167876921114014,
          0.794885123982249
        ],
        "act_eef_pose_r": [
          633.2862644042035,
          -118.88434812687865,
          27.80254334691972,
          1.7580821085694776,
          -0.07382043458298673,
          2.579612059376801
        ],
        "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": [
          0.32967389317658985,
          -0.6946479570150669,
          -0.07319521221501907,
          -1.2203522445024964,
          0.21463244677175197,
          -0.38959459244607164,
          0.08657133383838696
        ],
        "joint_pos_r": [
          -0.2981784096571122,
          -1.3213139617892786,
          0.12075226790317892,
          -0.326189535288393,
          -0.15560874922033457,
          0.9388726552641595,
          -0.128631584589963
        ],
        "eef_pose_l": [
          554.201415819429,
          264.76470491434645,
          45.46592071714008,
          1.823274967748966,
          -0.06181530671176468,
          0.7984372907435613
        ],
        "eef_pose_r": [
          630.0740150540513,
          -117.59196522559088,
          33.15216487347877,
          1.7372228080523373,
          -0.0705211985456144,
          2.593314716082695
        ],
        "joint_status_l": {
          "velocity": [
            0.16971551862932088,
            0.5041935758836047,
            -0.04208155158580418,
            -1.122270718012075,
            -0.05472894273306217,
            0.19854296756305345,
            -0.0015321099893217394
          ],
          "torque": [
            -25.18798828125,
            7.8369140625,
            -14.599609375,
            -5.17578125,
            -1.8585205078125,
            0.4559326171875,
            -0.1007080078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.10464293403522618,
            -2.087065550464118,
            -0.06031157633334949,
            4.748444562793885,
            -2.0051360897610504,
            0.9606985260548484,
            1.3043814159435785
          ],
          "torque": [
            32.83447265625,
            -1.75048828125,
            3.253173828125,
            2.203369140625,
            0.28564453125,
            -0.1336669921875,
            0.61614990234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.6,
            -16.0,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -16.0,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.6,
            -10.1,
            -5.7,
            -0.3,
            1.1,
            0.0
          ],
          "actual_contact_FT": [
            1.6,
            -10.1,
            -5.7,
            -0.3,
            1.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 990,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3311479628386437,
          -0.6875215162984446,
          -0.07378881274631406,
          -1.2358599478742667,
          0.21578674271545642,
          -0.3849271938246295,
          0.08272891502927637
        ],
        "act_joint_pos_r": [
          -0.29607818383313583,
          -1.3331321167981234,
          0.12039605055523357,
          -0.29721519487056813,
          -0.17659169299349164,
          0.9414995834239287,
          -0.11204084003168169
        ],
        "act_eef_pose_l": [
          551.2702875079824,
          263.87989076978363,
          46.028431447887954,
          1.822437994939966,
          -0.058479751334179556,
          0.7956375315262415
        ],
        "act_eef_pose_r": [
          632.7718644042035,
          -119.47314812687864,
          29.01134334691983,
          1.7580065983647748,
          -0.07429806662188412,
          2.58047572697499
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3299407523996316,
          -0.6935451598099929,
          -0.07328712031561836,
          -1.2227668888188137,
          0.21473028530335914,
          -0.38895031471764757,
          0.08613683699604914
        ],
        "joint_pos_r": [
          -0.29794135359311064,
          -1.3242945928943402,
          0.12066528011434274,
          -0.31928685695454057,
          -0.15903189607577486,
          0.940081203219482,
          -0.1262338625541901
        ],
        "eef_pose_l": [
          553.7301385276998,
          264.61014519292786,
          45.53794954764561,
          1.823139177507643,
          -0.06133319135271683,
          0.7978943540754975
        ],
        "eef_pose_r": [
          630.6312068825987,
          -117.84836082840606,
          32.27399474828948,
          1.7408902446503134,
          -0.07112409503052095,
          2.5909634524004423
        ],
        "joint_status_l": {
          "velocity": [
            0.1303748822114592,
            0.6505343127631846,
            -0.05418118452649168,
            -1.4140086740326296,
            0.11409403548268138,
            0.43448424201830704,
            -0.36804471751283874
          ],
          "torque": [
            -24.27978515625,
            7.7197265625,
            -14.166259765625,
            -5.694580078125,
            -0.97412109375,
            0.8697509765625,
            -0.44036865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.20121639951664605,
            -0.9544244323649309,
            -0.029075934835032236,
            2.3836692025036577,
            -1.896402135722175,
            0.15318054426138872,
            1.5328012248754241
          ],
          "torque": [
            36.767578125,
            1.31103515625,
            5.52978515625,
            0.994873046875,
            -0.5255126953125,
            -0.8917236328125,
            0.7745361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -15.4,
            -6.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -15.4,
            -6.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            3.0,
            -7.5,
            -7.2,
            -0.8,
            1.3,
            0.1
          ],
          "actual_contact_FT": [
            3.0,
            -7.5,
            -7.2,
            -0.8,
            1.3,
            0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 2,
          "position": 44,
          "motor_current": 944,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33179990445525637,
          -0.6894873937066273,
          -0.07362485790474818,
          -1.2316149090608577,
          0.2114902495711721,
          -0.384738868314112,
          0.08447264301866873
        ],
        "act_joint_pos_r": [
          -0.29485632482451596,
          -1.311871384097353,
          0.12096870437426598,
          -0.3351216524613946,
          -0.16932388510487503,
          0.9388196715899133,
          -0.10465633756748967
        ],
        "act_eef_pose_l": [
          552.1550875079823,
          264.28469076978365,
          45.577231447887755,
          1.8219233876090357,
          -0.05614504774179296,
          0.7986319368309335
        ],
        "act_eef_pose_r": [
          629.5926644042034,
          -120.89714812687868,
          33.612143346919765,
          1.746217741759957,
          -0.08248475919944771,
          2.5914551138427306
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.33021904285937015,
          -0.692675665391588,
          -0.07335951595351689,
          -1.2246596180864266,
          0.2144897242934418,
          -0.38822026128634535,
          0.08570772800009717
        ],
        "joint_pos_r": [
          -0.2975010472528957,
          -1.3244322765962713,
          0.12065567508655217,
          -0.31784761629741887,
          -0.16182732713720166,
          0.940156103341162,
          -0.12301841949369573
        ],
        "eef_pose_l": [
          553.3841073723014,
          264.52144932072787,
          45.57928355851462,
          1.8229630038286513,
          -0.06059680914116156,
          0.7977935118494356
        ],
        "eef_pose_r": [
          630.812975095311,
          -118.25460690296039,
          31.987695627691323,
          1.7432705315419184,
          -0.07231737832779363,
          2.589791131849886
        ],
        "joint_status_l": {
          "velocity": [
            0.17072801700201978,
            0.3443231867068519,
            -0.028656085566791667,
            -0.7511492712737322,
            -0.3239337160909628,
            0.37597935208300015,
            -0.13338524400685614
          ],
          "torque": [
            -24.0673828125,
            7.87353515625,
            -14.90478515625,
            -5.511474609375,
            -2.6971435546875,
            1.1407470703125,
            -0.57220458984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2856215983064736,
            1.3565363809817654,
            0.033806166013561345,
            -1.8655408845220656,
            -0.8096043825038812,
            -0.1443303723389633,
            1.983046361204277
          ],
          "torque": [
            36.6943359375,
            1.95556640625,
            5.0537109375,
            0.103759765625,
            -0.325927734375,
            -0.699462890625,
            0.84869384765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -15.2,
            -6.6,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -15.2,
            -6.6,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.7,
            -6.9,
            -8.9,
            -1.0,
            1.0,
            0.0
          ],
          "actual_contact_FT": [
            1.7,
            -6.9,
            -8.9,
            -1.0,
            1.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 57,
          "motor_current": -1213,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32990485848910356,
          -0.6870716730609887,
          -0.07376598679629835,
          -1.2313439562981177,
          0.20425458834172794,
          -0.3849901381586888,
          0.08019176382189734
        ],
        "act_joint_pos_r": [
          -0.29564320264699795,
          -1.282570814200085,
          0.12188708112428927,
          -0.3931202882563128,
          -0.1638479656096523,
          0.9156864283178573,
          -0.10139732709864657
        ],
        "act_eef_pose_l": [
          552.5414875079824,
          265.6638907697836,
          47.22603144788792,
          1.8181606826213073,
          -0.047429620775526087,
          0.8039411166818653
        ],
        "act_eef_pose_r": [
          626.4502644042035,
          -123.02834812687865,
          37.555343346919926,
          1.7367792474478274,
          -0.08340215822320156,
          2.5952648517332357
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3302904380017233,
          -0.6919112482517052,
          -0.07341717434664952,
          -1.2257760851138408,
          0.21327692812600263,
          -0.3876729291238806,
          0.08507888727165518
        ],
        "joint_pos_r": [
          -0.2970578319169926,
          -1.3199451798450226,
          0.12078106579825842,
          -0.32529485269126907,
          -0.16284963118795864,
          0.9382355208972039,
          -0.11931232480754433
        ],
        "eef_pose_l": [
          553.2210187232043,
          264.6196145487659,
          45.743254312027034,
          1.8224125978088914,
          -0.059000545404727794,
          0.7984639753116672
        ],
        "eef_pose_r": [
          630.3845841726533,
          -118.91153664751126,
          32.57284072270551,
          1.7431396812545814,
          -0.07431416318802672,
          2.5903786529944943
        ],
        "joint_status_l": {
          "velocity": [
            -0.04164135921680412,
            0.5226587056030851,
            -0.03767063352611011,
            -0.6013123531420916,
            -0.9743839587832426,
            0.2897328790263387,
            -0.5277937661288812
          ],
          "torque": [
            -27.919921875,
            9.5361328125,
            -15.73486328125,
            -4.791259765625,
            -3.0780029296875,
            1.1810302734375,
            -0.54840087890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15277545528835645,
            4.036312444981149,
            0.11944613233594303,
            -7.324931003732882,
            -0.10781693765227196,
            -2.435230175295011,
            1.9347626897856518
          ],
          "torque": [
            37.56591796875,
            0.72509765625,
            8.160400390625,
            -6.6650390625,
            1.8841552734375,
            0.2783203125,
            0.87158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -15.3,
            -2.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -15.3,
            -2.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -14.8,
            -1.9,
            0.8,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -14.8,
            -1.9,
            0.8,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 140,
          "motor_current": -1795,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33090319788681594,
          -0.6851375295428079,
          -0.07389186558374776,
          -1.2322088520902514,
          0.19545190250490288,
          -0.3883542443688633,
          0.08662269686438272
        ],
        "act_joint_pos_r": [
          -0.29648643498369426,
          -1.2615024263543926,
          0.1226458382964893,
          -0.4376980153822043,
          -0.15176542045976893,
          0.8940968572650587,
          -0.10876628854139839
        ],
        "act_eef_pose_l": [
          551.8102875079824,
          265.8678907697837,
          47.492431447887896,
          1.8155328504032648,
          -0.0446432135873565,
          0.8023590219071385
        ],
        "act_eef_pose_r": [
          624.4710644042035,
          -124.04754812687867,
          41.629743346919895,
          1.7239331509854428,
          -0.07907963498080957,
          2.5960225939612935
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.33033491973859597,
          -0.6908373164564606,
          -0.07349305183797984,
          -1.226858128831288,
          0.21068838267887965,
          -0.3875782043697409,
          0.08494048740083172
        ],
        "joint_pos_r": [
          -0.2968801353024451,
          -1.3115276012158579,
          0.12104178511728478,
          -0.34111555627092066,
          -0.1619884253435947,
          0.9323944129147048,
          -0.1167776921812816
        ],
        "eef_pose_l": [
          553.018471594014,
          264.8267441324877,
          46.03509794262783,
          1.8213601521806273,
          -0.056641703749544366,
          0.799260257672417
        ],
        "eef_pose_r": [
          629.6106419738476,
          -119.73772016155083,
          33.78576640040674,
          1.740880505754384,
          -0.0755293120762032,
          2.5912852510558313
        ],
        "joint_status_l": {
          "velocity": [
            0.06137222993052305,
            0.6155588317380278,
            -0.04307061424313474,
            -0.5778610688658148,
            -1.6454913276171546,
            -0.08380984806599656,
            0.18167326389695315
          ],
          "torque": [
            -24.64599609375,
            9.90234375,
            -16.71142578125,
            -4.84619140625,
            -3.28125,
            -0.4302978515625,
            0.27557373046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.04251838041247069,
            5.402559545062857,
            0.17323263413060452,
            -10.430597949976583,
            1.104051965181041,
            -4.1360140249491195,
            0.8652060752183388
          ],
          "torque": [
            38.48876953125,
            2.2265625,
            10.888671875,
            -6.884765625,
            4.7332763671875,
            0.560302734375,
            0.68389892578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -14.1,
            -7.1,
            1.2,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            0.5,
            -14.1,
            -7.1,
            1.2,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.9,
            -17.1,
            -0.1,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.9,
            -17.1,
            -0.1,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 236,
          "motor_current": -2341,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.331517913378729,
          -0.6863408042254567,
          -0.07377954654369803,
          -1.228612809832073,
          0.18997812254714366,
          -0.39119806835361365,
          0.08989828514148382
        ],
        "act_joint_pos_r": [
          -0.29519896290900105,
          -1.2542680961376103,
          0.1229350725863046,
          -0.45211864431846116,
          -0.1490119504139362,
          0.8894213696918528,
          -0.11038670608061012
        ],
        "act_eef_pose_l": [
          552.1526875079824,
          266.0190907697837,
          47.25883144788787,
          1.8143806760721601,
          -0.042130607089608384,
          0.8024683508391115
        ],
        "act_eef_pose_r": [
          623.6542644042036,
          -124.40994812687865,
          43.83534334691967,
          1.7195541414026447,
          -0.07676935015931835,
          2.598256827384468
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.33048948481697105,
          -0.6900199820302172,
          -0.07354744312174384,
          -1.2273800817084293,
          0.2076391257627383,
          -0.38798864325580973,
          0.08554284184367211
        ],
        "joint_pos_r": [
          -0.2967405980803897,
          -1.3028833103950965,
          0.12132229132160978,
          -0.357831241769041,
          -0.16014780746456836,
          0.9258267817949019,
          -0.11555481690072483
        ],
        "eef_pose_l": [
          552.8531990984544,
          265.01184581276163,
          46.24978413559006,
          1.8202898403686805,
          -0.054417567253516444,
          0.7997842329617302
        ],
        "eef_pose_r": [
          628.8235582678315,
          -120.47837887857833,
          35.18550347824535,
          1.7377937763904603,
          -0.07593582048821121,
          2.5921713940278663
        ],
        "joint_status_l": {
          "velocity": [
            0.11106700892327126,
            0.3973394840128819,
            -0.025066430276110552,
            -0.13313071087317496,
            -1.9073320935312221,
            -0.3466076879155011,
            0.4703740032240278
          ],
          "torque": [
            -24.0673828125,
            8.32763671875,
            -17.529296875,
            -6.16455078125,
            -3.5870361328125,
            -0.7928466796875,
            0.35430908203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.16649168810056736,
            5.250288290833183,
            0.17417523956286818,
            -10.182739151499476,
            1.2026370915831919,
            -3.9316685487644776,
            0.5581395071275752
          ],
          "torque": [
            45.02197265625,
            5.91064453125,
            11.083984375,
            -6.87255859375,
            5.0775146484375,
            -0.6884765625,
            0.6976318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.7,
            -16.3,
            -7.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.7,
            -16.3,
            -7.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.5,
            0.3,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.5,
            0.3,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 436,
          "motor_current": -2682,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3334395480859648,
          -0.6859364066082377,
          -0.07377557698433296,
          -1.226121160901071,
          0.17734826875296067,
          -0.3964948539874462,
          0.09885047546756233
        ],
        "act_joint_pos_r": [
          -0.2919448127013493,
          -1.2494126489529769,
          0.12308159089597243,
          -0.4529277900931478,
          -0.1326252026498338,
          0.9008055658966271,
          -0.1202353763180211
        ],
        "act_eef_pose_l": [
          551.7822875079823,
          266.2598907697836,
          47.0268314478879,
          1.8112512236636795,
          -0.037510086027854744,
          0.8011336450314989
        ],
        "act_eef_pose_r": [
          623.2270644042035,
          -126.02914812687868,
          48.79534334691971,
          1.703977654993039,
          -0.07508789007111202,
          2.6041192226673964
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3306899084961353,
          -0.6895870574000772,
          -0.07357346003639302,
          -1.227409785813532,
          0.20509167139952073,
          -0.3885833689342171,
          0.08642738469946426
        ],
        "joint_pos_r": [
          -0.29620767496363043,
          -1.2944741816473098,
          0.12160000889083496,
          -0.3734011452009938,
          -0.15690973459977084,
          0.9208196432929273,
          -0.11555106508279087
        ],
        "eef_pose_l": [
          552.756591487097,
          265.1346040339934,
          46.35058326453046,
          1.8194951235560313,
          -0.05282340984557925,
          0.8000282347287724
        ],
        "eef_pose_r": [
          628.0377029159872,
          -121.27000748843054,
          37.0233438703404,
          1.7333911620405744,
          -0.07588244407380194,
          2.5936569150284146
        ],
        "joint_status_l": {
          "velocity": [
            0.29695231756132756,
            0.3942586574812168,
            -0.02182798659544627,
            0.13916738602404166,
            -2.9961991176592484,
            -0.854415186119617,
            1.3416542329781622
          ],
          "torque": [
            -23.3203125,
            8.6572265625,
            -18.145751953125,
            -5.3955078125,
            -3.4149169921875,
            -0.794677734375,
            0.43121337890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.46037554627531563,
            4.866502001185324,
            0.16000613742594982,
            -8.588624340418072,
            2.622652099604217,
            -2.161456610045853,
            -0.5058906929563678
          ],
          "torque": [
            49.00634765625,
            3.1494140625,
            11.5478515625,
            -6.500244140625,
            5.2203369140625,
            0.44677734375,
            -0.2508544921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.5,
            -7.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.5,
            -7.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.3,
            0.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.3,
            0.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 603,
          "motor_current": -2436,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3324585059519076,
          -0.6894483810607333,
          -0.0733451121828366,
          -1.206639948299974,
          0.16535399150573654,
          -0.41944835630960736,
          0.11045426738276985
        ],
        "act_joint_pos_r": [
          -0.2872441122139615,
          -1.2473986483344381,
          0.12310158867602267,
          -0.44565479578784106,
          -0.11858902110910784,
          0.9080721145291009,
          -0.13309932009784883
        ],
        "act_eef_pose_l": [
          552.9614875079824,
          267.89589076978365,
          47.13883144788775,
          1.8081925063521032,
          -0.03578046529112479,
          0.794477348064628
        ],
        "act_eef_pose_r": [
          624.8494644042034,
          -128.97554812687866,
          53.50574334691987,
          1.6917049005398515,
          -0.067156515105895,
          2.6014950849066816
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    }
  ]
}