diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..00218b4974eb1006a1c8516897e0da90d2533b3b
Binary files /dev/null and b/.DS_Store differ
diff --git a/data/.DS_Store b/data/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..7630d85493f8bd4a5164f7190da35f8a6ebb14d5
Binary files /dev/null and b/data/.DS_Store differ
diff --git a/data/chunk-000/.DS_Store b/data/chunk-000/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/data/chunk-000/.DS_Store differ
diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3f7d949b77fed6b51a8fc5c48f37cfc0738771ee
--- /dev/null
+++ b/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba2b45737a506ac847b04835cce0fecdf670fc208fb7bf12d8c020125fa3736
+size 71358
diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..131a722e70f8f9969d84915c7aedd8229af24b4d
--- /dev/null
+++ b/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a9a322b97ade08a9b31545d90ff23e84dde1036e93d8b978f09c48af16214b
+size 75683
diff --git a/data/chunk-000/episode_000002.parquet b/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d8ded1f2473b37abdca187d46488adac2f8dd4e2
--- /dev/null
+++ b/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8fc2b6e3f9723b914db760c395042887bfdba3bf260250727c8eddb1f50a3d
+size 72239
diff --git a/data/chunk-000/episode_000003.parquet b/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ccbd4aa22cea7d7fe1f787971b5a9821512f982f
--- /dev/null
+++ b/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b422c021b3420e2488c21c2b9e2120faeae0f15efdf5e99c2a6d0ec304cd92
+size 71479
diff --git a/data/chunk-000/episode_000004.parquet b/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..05068daaf34759cce1024d19e4be6242334087e8
--- /dev/null
+++ b/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3ebeb94a57ad29099e5d6f0d50cd66f9249ffe0e75da1e82eaf864a1cdb21a
+size 34365
diff --git a/data/chunk-000/episode_000005.parquet b/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..573945dec6f15d475a24d056f05759ef316c0e7c
--- /dev/null
+++ b/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2375de9c7b87f632134c8fd81bf97532c584a1af41cdd7083b3bbeea30dd927
+size 52219
diff --git a/data/chunk-000/episode_000006.parquet b/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7dbfe784b1130bc94343843bd361facf616e2792
--- /dev/null
+++ b/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69c3ace76d61432d8b4afb35466d70741dece5bd43cf2f73fd7892aec9531042
+size 43089
diff --git a/data/chunk-000/episode_000007.parquet b/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0e992780d6ab9bc5b6052ecdf488656ef67283d3
--- /dev/null
+++ b/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e226083df3d5431a5aca9f382833c3824ee93dad3fcdc51d17f8b1b436e5378
+size 54139
diff --git a/data/chunk-000/episode_000008.parquet b/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..836bb97f23b557c29b3ca9b71c2ae286138d9651
--- /dev/null
+++ b/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d68e471d2a030c5cf8895a37aa467350230edd249598eda45790fdf80223d8
+size 29351
diff --git a/data/chunk-000/episode_000009.parquet b/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b0b521f70937fbae42d0c98fe73bcd706e2d277
--- /dev/null
+++ b/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94d52a0a8fc9a6f03bab5c1c80a70daa2454381749add2fc5edbf9a9cf4b5d3d
+size 33412
diff --git a/data/chunk-000/episode_000010.parquet b/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a25a7316a70192e12907e18b12bef94b9c5a7db0
--- /dev/null
+++ b/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e08f8cd53635385803cacf445007d7f1539b9ad982908eba4ccbfd0ea02bbf
+size 38313
diff --git a/data/chunk-000/episode_000011.parquet b/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e96593341bb123b77566d5636a30c940ea4ccb3d
--- /dev/null
+++ b/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f106498d2719c0ea4ea7f8e24f75ceb6a925856a6fa2f312a1ae5b10b3e2f7ef
+size 26311
diff --git a/data/chunk-000/episode_000012.parquet b/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3cfa197f0b66e175383f1c57cd597f64e8ae2f7d
--- /dev/null
+++ b/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e7b08b0a7ee4693e538731506ab5f37102824edfa29bf16bff165e34769ac1
+size 44565
diff --git a/data/chunk-000/episode_000013.parquet b/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6668ca86b22832fb570449271ebc8c69178fff7f
--- /dev/null
+++ b/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be8031da69674777f27930f730fc45b3ba6984721881417a550ed1d5f37843e
+size 39803
diff --git a/data/chunk-000/episode_000014.parquet b/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0f0ee4d374106d8795e5cb80b2ea8f0e46cabad6
--- /dev/null
+++ b/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f4c1b3204773a067587365440fef104d94597a29c6800ad55b6c321e199898
+size 36591
diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f75ecd05039302e2b069ac172a2a3bc0f6f30826
--- /dev/null
+++ b/meta/episodes.jsonl
@@ -0,0 +1,15 @@
+{"episode_index": 0, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1800}
+{"episode_index": 1, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1797}
+{"episode_index": 2, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1798}
+{"episode_index": 3, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1797}
+{"episode_index": 4, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 749}
+{"episode_index": 5, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1091}
+{"episode_index": 6, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 910}
+{"episode_index": 7, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1310}
+{"episode_index": 8, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 639}
+{"episode_index": 9, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 758}
+{"episode_index": 10, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 804}
+{"episode_index": 11, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 521}
+{"episode_index": 12, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 1098}
+{"episode_index": 13, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 910}
+{"episode_index": 14, "tasks": ["Pick up an empty bottle and put them in the top shelf of the cart"], "length": 845}
diff --git a/meta/episodes_stats.jsonl b/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..834f0865e821fa914590c8cbcd3852fbb564153f
--- /dev/null
+++ b/meta/episodes_stats.jsonl
@@ -0,0 +1,15 @@
+{"episode_index": 0, "stats": {"action": {"min": [-47.76785659790039, -99.82669067382812, -24.73899269104004, 12.259194374084473, -1.7599159479141235, 0.0, 0.0, 0.0, 0.0], "max": [2.232142925262451, 32.75563430786133, 99.72764587402344, 53.59019088745117, 59.86341094970703, 32.68551254272461, 0.0, 0.0, 0.0], "mean": [-14.319321632385254, -50.495304107666016, 44.36769104003906, 27.264928817749023, 42.35416793823242, 11.15400505065918, 0.0, 0.0, 0.0], "std": [12.343452453613281, 42.774940490722656, 38.740238189697266, 13.003204345703125, 23.747291564941406, 12.2540922164917, 0.0, 0.0, 0.0], "count": [1800]}, "observation.state": {"min": [-47.661468505859375, -99.23664093017578, -22.66545867919922, 12.722832679748535, -1.6361416578292847, 0.8316008448600769, -0.00221411045640707, -0.0012783173006027937, -0.5859375], "max": [2.078693389892578, 32.99406433105469, 99.72801208496094, 53.11355209350586, 59.70695877075195, 32.64033126831055, 0.00221411045640707, 0.0012783173006027937, 0.5859375], "mean": [-14.467269897460938, -50.063724517822266, 45.76008224487305, 27.415416717529297, 42.332000732421875, 13.488216400146484, -2.460122686898103e-06, 1.4203525324774091e-06, 0.0006510416860692203], "std": [12.445064544677734, 43.109153747558594, 38.44213104248047, 12.85094165802002, 23.795188903808594, 11.082318305969238, 0.0001278064592042938, 7.378904410870746e-05, 0.033823415637016296], "count": [1800]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6980016162262006]], [[0.7066246618061476]], [[0.7186499020199868]]], "std": [[[0.2780742188834544]], [[0.2734993214926137]], [[0.2640223847548479]]], "count": [276]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3274661532336364]], [[0.3274661532336364]], [[0.3274661532336364]]], "std": [[[0.34573706864417875]], [[0.34573706864417875]], [[0.34573706864417875]]], "count": [276]}, "observation.images.realsense_rgb": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[0.796078431372549]], [[0.8392156862745098]], [[0.8980392156862745]]], "mean": [[[0.47486386920408263]], [[0.4788918490101355]], [[0.4743413560019418]]], "std": [[[0.08574079177211259]], [[0.0875295130806214]], [[0.09162743159219289]]], "count": [276]}, "timestamp": {"min": [0.0], "max": [59.96666666666667], "mean": [29.983333333333334], "std": [17.320505402770653], "count": [1800]}, "frame_index": {"min": [0], "max": [1799], "mean": [899.5], "std": [519.6151620831197], "count": [1800]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1800]}, "index": {"min": [0], "max": [1799], "mean": [899.5], "std": [519.6151620831197], "count": [1800]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1800]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-44.41964340209961, -100.0, -57.512481689453125, 8.9316987991333, -1.1820330619812012, 0.0, 0.0, 0.0, 0.0], "max": [17.410715103149414, 23.916810989379883, 99.63685607910156, 73.99299621582031, 68.9519271850586, 30.83038902282715, 0.0, 0.0, 0.0], "mean": [-5.481144905090332, -26.48863410949707, 6.927303314208984, 41.13376998901367, 51.56611633300781, 12.286552429199219, 0.0, 0.0, 0.0], "std": [18.09482192993164, 47.29043197631836, 39.424293518066406, 16.036855697631836, 21.466550827026367, 14.413176536560059, 0.0, 0.0, 0.0], "count": [1797]}, "observation.state": {"min": [-44.39495086669922, -99.32145690917969, -55.75702667236328, 9.30402946472168, -1.245421290397644, 1.0395010709762573, -0.00221411045640707, -0.0012783173006027937, -0.5859375], "max": [17.371936798095703, 24.342662811279297, 99.72801208496094, 72.55189514160156, 68.79120635986328, 30.838531494140625, 0.00221411045640707, 0.0012783173006027937, 0.5859375], "mean": [-5.539594650268555, -25.964021682739258, 8.760068893432617, 41.23078536987305, 51.38264846801758, 15.496583938598633, -2.464229737597634e-06, 1.4227238125386066e-06, 0.0006521285395137966], "std": [18.03342056274414, 47.925045013427734, 39.66192626953125, 15.80245590209961, 21.662933349609375, 12.230390548706055, 0.00024497296544723213, 0.00014143421140033752, 0.06482896208763123], "count": [1797]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6619324988751539]], [[0.6717931274865018]], [[0.6825553298463105]]], "std": [[[0.2983017336131242]], [[0.2909594617414142]], [[0.2800844454463469]]], "count": [276]}, "observation.images.realsense_depth": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3292436720008051]], [[0.3292436720008051]], [[0.3292436720008051]]], "std": [[[0.34836925708375627]], [[0.34836925708375627]], [[0.34836925708375627]]], "count": [276]}, "observation.images.realsense_rgb": {"min": [[[0.011764705882352941]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[0.8509803921568627]], [[0.796078431372549]], [[0.8941176470588236]]], "mean": [[[0.46303110199393765]], [[0.4716409824346405]], [[0.46947545393459317]]], "std": [[[0.08234310015726092]], [[0.08093899045135496]], [[0.0856261214972627]]], "count": [276]}, "timestamp": {"min": [0.0], "max": [59.86666666666667], "mean": [29.933333333333337], "std": [17.291637884848875], "count": [1797]}, "frame_index": {"min": [0], "max": [1796], "mean": [898.0], "std": [518.7491365454662], "count": [1797]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1797]}, "index": {"min": [1800], "max": [3596], "mean": [2698.0], "std": [518.7491365454662], "count": [1797]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1797]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-35.119049072265625, -99.65338134765625, -56.05991744995117, 14.273204803466797, -4.123981952667236, 0.17667844891548157, 0.0, 0.0, 0.0], "max": [5.357142925262451, 10.571924209594727, 99.364501953125, 83.27495574951172, 51.825584411621094, 26.943462371826172, 0.0, 0.0, 0.0], "mean": [-5.951430320739746, -55.93252944946289, 33.92086410522461, 39.279911041259766, 37.03631591796875, 12.602455139160156, 0.0, 0.0, 0.0], "std": [8.903644561767578, 43.40127944946289, 36.01384735107422, 21.359153747558594, 20.13042449951172, 12.886736869812012, 0.0, 0.0, 0.0], "count": [1798]}, "observation.state": {"min": [-35.2635498046875, -99.32145690917969, -53.67180252075195, 14.774114608764648, -3.882783889770508, 1.0395010709762573, -0.00442822091281414, -0.0025566346012055874, -1.171875], "max": [5.196733474731445, 10.77184009552002, 99.18404388427734, 81.0988998413086, 51.74603271484375, 27.027027130126953, 0.00442822091281414, 0.0012783173006027937, 0.5859375], "mean": [-5.9020562171936035, -55.70224380493164, 35.40111541748047, 39.27488708496094, 36.83823013305664, 16.811565399169922, 3.694288807309931e-06, -4.976764103048481e-06, -0.0022811805829405785], "std": [8.74075698852539, 43.72502899169922, 35.92930603027344, 20.93570327758789, 20.20624542236328, 10.108637809753418, 0.0008532057399861515, 0.0004888787516392767, 0.2240844964981079], "count": [1798]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6847564841455906]], [[0.7042427491830066]], [[0.7238080775788577]]], "std": [[[0.2936605870606257]], [[0.2832783718363771]], [[0.2721999401990548]]], "count": [276]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3291722250343374]], [[0.3291722250343374]], [[0.3291722250343374]]], "std": [[[0.34715941927072785]], [[0.34715941927072785]], [[0.34715941927072785]]], "count": [276]}, "observation.images.realsense_rgb": {"min": [[[0.01568627450980392]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[0.7568627450980392]], [[0.796078431372549]], [[0.8431372549019608]]], "mean": [[[0.4636054084375296]], [[0.4723426651155631]], [[0.4711987884223738]]], "std": [[[0.08052437220704323]], [[0.07924010320057973]], [[0.08612802960834938]]], "count": [276]}, "timestamp": {"min": [0.0], "max": [59.9], "mean": [29.95], "std": [17.301260390824453], "count": [1798]}, "frame_index": {"min": [0], "max": [1797], "mean": [898.5], "std": [519.0378117247336], "count": [1798]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1798]}, "index": {"min": [3597], "max": [5394], "mean": [4495.5], "std": [519.0378117247336], "count": [1798]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1798]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-45.68452453613281, -100.0, -15.932818412780762, -1.1383538246154785, -6.698187351226807, 0.0, 0.0, 0.0, 0.0], "max": [7.217261791229248, 3.4662044048309326, 99.72764587402344, 57.7933464050293, 60.49382781982422, 35.15901184082031, 0.0, 0.0, 0.0], "mean": [-7.911384582519531, -55.987220764160156, 51.1182861328125, 24.74604606628418, 40.986576080322266, 16.27507972717285, 0.0, 0.0, 0.0], "std": [14.180055618286133, 39.50511932373047, 32.68943405151367, 18.91220474243164, 23.416303634643555, 15.145312309265137, 0.0, 0.0, 0.0], "count": [1797]}, "observation.state": {"min": [-45.65701675415039, -99.23664093017578, -12.964641571044922, -0.5128205418586731, -6.568986415863037, 1.0395010709762573, -0.00442822091281414, -0.0025566346012055874, -1.171875], "max": [7.126948833465576, 3.731976270675659, 99.6373519897461, 57.55799865722656, 60.39072036743164, 34.9272346496582, 0.00442822091281414, 0.0025566346012055874, 1.171875], "mean": [-8.049800872802734, -55.45841598510742, 52.16250228881836, 24.88508415222168, 40.875465393066406, 18.626705169677734, -1.3553265489463229e-05, 7.113608262443449e-07, 0.0003260642697568983], "std": [14.205255508422852, 39.75130081176758, 32.5300178527832, 18.71209144592285, 23.417621612548828, 13.277888298034668, 0.0014407875714823604, 0.0008230796083807945, 0.37727242708206177], "count": [1797]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6879986435244388]], [[0.6993998220967131]], [[0.7129961918040163]]], "std": [[[0.2877895542357607]], [[0.28186410189828476]], [[0.27213411703688656]]], "count": [276]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3276571779980108]], [[0.3276571779980108]], [[0.3276571779980108]]], "std": [[[0.3464918865966692]], [[0.3464918865966692]], [[0.3464918865966692]]], "count": [276]}, "observation.images.realsense_rgb": {"min": [[[0.01568627450980392]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[0.8156862745098039]], [[0.8823529411764706]], [[0.9647058823529412]]], "mean": [[[0.47766477736928104]], [[0.48137448419887274]], [[0.47691915094842285]]], "std": [[[0.08919379274371841]], [[0.0890192310008048]], [[0.09156376859483588]]], "count": [276]}, "timestamp": {"min": [0.0], "max": [59.86666666666667], "mean": [29.933333333333337], "std": [17.291637884848875], "count": [1797]}, "frame_index": {"min": [0], "max": [1796], "mean": [898.0], "std": [518.7491365454662], "count": [1797]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1797]}, "index": {"min": [5395], "max": [7191], "mean": [6293.0], "std": [518.7491365454662], "count": [1797]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1797]}}}
+{"episode_index": 4, "stats": {"action": {"min": [-39.50893020629883, -100.0, 8.942351341247559, -33.62521743774414, -16.732336044311523, 0.0, 0.0, 0.0, 0.0], "max": [2.827380895614624, 14.038127899169922, 99.90921783447266, 54.11558532714844, 54.18965148925781, 29.0636043548584, 0.0, 0.0, 0.0], "mean": [-12.192527770996094, -69.70011138916016, 73.1196517944336, 17.429994583129883, 17.159696578979492, 6.712883949279785, 0.0, 0.0, 0.0], "std": [12.281147003173828, 41.15568923950195, 33.27694320678711, 21.69464111328125, 27.219419479370117, 9.949348449707031, 0.0, 0.0, 0.0], "count": [749]}, "observation.state": {"min": [-39.420936584472656, -99.32145690917969, 10.970081329345703, -31.672771453857422, -16.678876876831055, 0.7623007893562317, -0.00221411045640707, -0.0025566346012055874, -0.5859375], "max": [3.7119524478912354, 14.249363899230957, 99.81867980957031, 53.94383239746094, 54.090354919433594, 28.690229415893555, 0.00221411045640707, 0.0025566346012055874, 0.5859375], "mean": [-12.294417381286621, -69.32249450683594, 73.99407196044922, 17.5023136138916, 17.139440536499023, 10.562612533569336, 2.956088792416267e-06, -1.1946891390834935e-05, 0.0015645860694348812], "std": [12.215132713317871, 41.31767654418945, 32.5051383972168, 21.444141387939453, 27.16448402404785, 9.079118728637695, 0.0005663085612468421, 0.0005851377500221133, 0.18663854897022247], "count": [749]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5798590671991408]], [[0.589409018065268]], [[0.6004390868526899]]], "std": [[[0.2733902719888209]], [[0.2651070461377018]], [[0.2584854893771864]]], "count": [143]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3323170234585676]], [[0.3323170234585676]], [[0.3323170234585676]]], "std": [[[0.37303967433070256]], [[0.37303967433070256]], [[0.37303967433070256]]], "count": [143]}, "observation.images.realsense_rgb": {"min": [[[0.011764705882352941]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47223475421637184]], [[0.4744951594565565]], [[0.4699588175305087]]], "std": [[[0.1096112610541073]], [[0.11242567846548725]], [[0.11693066232373694]]], "count": [143]}, "timestamp": {"min": [0.0], "max": [24.933333333333334], "mean": [12.466666666666667], "std": [7.2072494368132185], "count": [749]}, "frame_index": {"min": [0], "max": [748], "mean": [374.0], "std": [216.21748310439654], "count": [749]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [749]}, "index": {"min": [7192], "max": [7940], "mean": [7566.0], "std": [216.21748310439654], "count": [749]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [749]}}}
+{"episode_index": 5, "stats": {"action": {"min": [-42.55952453613281, -99.82669067382812, 0.8624602556228638, -12.171628952026367, -23.77199935913086, 0.0, 0.0, 0.0, 0.0], "max": [2.6785714626312256, -0.5199306607246399, 99.72764587402344, 53.677757263183594, 65.53717041015625, 36.39575958251953, 0.0, 0.0, 0.0], "mean": [-14.01816463470459, -59.768524169921875, 54.99722671508789, 16.23941421508789, 33.548831939697266, 6.914402484893799, 0.0, 0.0, 0.0], "std": [13.519960403442383, 43.37125778198242, 39.26054382324219, 15.597322463989258, 26.504653930664062, 9.802861213684082, 0.0, 0.0, 0.0], "count": [1091]}, "observation.state": {"min": [-42.613216400146484, -99.4062728881836, 4.079782485961914, -11.550671577453613, -23.711843490600586, 0.8316008448600769, -0.00221411045640707, -0.0025566346012055874, -1.171875], "max": [2.6726057529449463, -0.6785411238670349, 99.81867980957031, 53.4554328918457, 65.32356262207031, 35.620235443115234, 0.00221411045640707, 0.003834951901808381, 0.5859375], "mean": [-14.087821960449219, -59.135677337646484, 55.795936584472656, 16.38326072692871, 33.48860168457031, 9.974995613098145, -6.088296231610002e-06, -3.5150790154148126e-06, 0.0032223877497017384], "std": [13.541753768920898, 43.84775161743164, 38.61872482299805, 15.433812141418457, 26.494136810302734, 8.961134910583496, 0.0004395222058519721, 0.0006464283796958625, 0.1791301965713501], "count": [1091]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6401625622471211]], [[0.6398986009527268]], [[0.6474192657001072]]], "std": [[[0.2533084451727113]], [[0.2497929804658245]], [[0.24220523906310262]]], "count": [189]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3254155405989556]], [[0.3254155405989556]], [[0.3254155405989556]]], "std": [[[0.3667084341499146]], [[0.3667084341499146]], [[0.3667084341499146]]], "count": [189]}, "observation.images.realsense_rgb": {"min": [[[0.0196078431372549]], [[0.027450980392156862]], [[0.0392156862745098]]], "max": [[[0.9019607843137255]], [[0.9137254901960784]], [[1.0]]], "mean": [[[0.4698604389286579]], [[0.4738798587336169]], [[0.469979174231421]]], "std": [[[0.11142410411986726]], [[0.11273353896618224]], [[0.11608322969633086]]], "count": [189]}, "timestamp": {"min": [0.0], "max": [36.333333333333336], "mean": [18.166666666666664], "std": [10.498147984816708], "count": [1091]}, "frame_index": {"min": [0], "max": [1090], "mean": [545.0], "std": [314.9444395445012], "count": [1091]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1091]}, "index": {"min": [7941], "max": [9031], "mean": [8486.0], "std": [314.9444395445012], "count": [1091]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1091]}}}
+{"episode_index": 6, "stats": {"action": {"min": [-50.44643020629883, -99.65338134765625, 18.111665725708008, 6.479859828948975, -26.188600540161133, 0.0, 0.0, 0.0, 0.0], "max": [22.619047164916992, -11.611784934997559, 99.72764587402344, 54.728546142578125, 51.720516204833984, 29.858657836914062, 0.0, 0.0, 0.0], "mean": [2.3858656883239746, -64.4722671508789, 55.369285583496094, 24.893064498901367, 30.472488403320312, 7.915042400360107, 0.0, 0.0, 0.0], "std": [18.915443420410156, 35.13874053955078, 27.47889518737793, 13.381386756896973, 26.172931671142578, 11.960412979125977, 0.0, 0.0, 0.0], "count": [910]}, "observation.state": {"min": [-50.63103103637695, -99.32145690917969, 18.40435218811035, 7.008546829223633, -26.007326126098633, 0.8316008448600769, -0.00221411045640707, -0.003834951901808381, -0.5859375], "max": [22.56867027282715, -11.620017051696777, 99.54669189453125, 54.481075286865234, 51.404151916503906, 29.313928604125977, 0.00221411045640707, 0.0025566346012055874, 0.5859375], "mean": [2.3239917755126953, -64.26593780517578, 56.53786087036133, 25.05398941040039, 30.42120361328125, 11.420400619506836, 1.4598530469811521e-05, 5.618976956611732e-06, -0.00708276079967618], "std": [18.952804565429688, 35.20814895629883, 27.020471572875977, 13.217618942260742, 26.133136749267578, 11.170182228088379, 0.00044014124432578683, 0.0004718421259894967, 0.14387528598308563], "count": [910]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5913501138839374]], [[0.6039104389483065]], [[0.614186562933254]]], "std": [[[0.2773118341859799]], [[0.2720592472458727]], [[0.26449943374494983]]], "count": [165]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3311007984254308]], [[0.3311007984254308]], [[0.3311007984254308]]], "std": [[[0.3701823679881595]], [[0.3701823679881595]], [[0.3701823679881595]]], "count": [165]}, "observation.images.realsense_rgb": {"min": [[[0.0196078431372549]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[0.8980392156862745]], [[0.8980392156862745]], [[0.8980392156862745]]], "mean": [[[0.46781074593979005]], [[0.4727293114973262]], [[0.4683911715191127]]], "std": [[[0.1062821863479323]], [[0.10909194347024316]], [[0.1141118461871787]]], "count": [165]}, "timestamp": {"min": [0.0], "max": [30.3], "mean": [15.149999999999999], "std": [8.756473795617351], "count": [910]}, "frame_index": {"min": [0], "max": [909], "mean": [454.5], "std": [262.69421386852054], "count": [910]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [910]}, "index": {"min": [9032], "max": [9941], "mean": [9486.5], "std": [262.69421386852054], "count": [910]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [910]}}}
+{"episode_index": 7, "stats": {"action": {"min": [-67.03868865966797, -99.65338134765625, 52.610076904296875, -18.82662010192871, -8.431836128234863, 0.0, 0.0, 0.0, 0.0], "max": [-1.6369047164916992, -17.331022262573242, 99.63685607910156, 53.94045639038086, 55.397953033447266, 31.00706672668457, 0.0, 0.0, 0.0], "mean": [-17.202104568481445, -76.94261932373047, 83.78019714355469, -0.734473466873169, 35.95570755004883, 15.68945598602295, 0.0, 0.0, 0.0], "std": [19.68992042541504, 32.741844177246094, 18.618106842041016, 18.81695556640625, 18.1240234375, 12.729357719421387, 0.0, 0.0, 0.0], "count": [1310]}, "observation.state": {"min": [-67.18634033203125, -99.23664093017578, 55.75702667236328, -18.38827896118164, -8.278388023376465, 0.9009009003639221, -0.00221411045640707, -0.003834951901808381, -1.171875], "max": [-1.9302152395248413, -17.387617111206055, 99.6373519897461, 53.650794982910156, 54.43223571777344, 30.69993019104004, 0.00221411045640707, 0.003834951901808381, 1.171875], "mean": [-17.384700775146484, -76.42973327636719, 84.68914794921875, -0.3439047038555145, 35.9171257019043, 20.04258918762207, -3.380321231816197e-06, 7.806514076946769e-06, -0.003130963770672679], "std": [19.621320724487305, 33.07501220703125, 17.643983840942383, 18.98930549621582, 17.984479904174805, 8.749476432800293, 0.000894882483407855, 0.001458765473216772, 0.38818252086639404], "count": [1310]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6115398369025029]], [[0.6220765903135448]], [[0.6352258017454294]]], "std": [[[0.22449571464260887]], [[0.21180937396927196]], [[0.20425435925003063]]], "count": [217]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32973468890244273]], [[0.32973468890244273]], [[0.32973468890244273]]], "std": [[[0.3701752277133401]], [[0.3701752277133401]], [[0.3701752277133401]]], "count": [217]}, "observation.images.realsense_rgb": {"min": [[[0.0196078431372549]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[0.9176470588235294]], [[1.0]], [[1.0]]], "mean": [[[0.47256450671666517]], [[0.4749830200897563]], [[0.4697967653459233]]], "std": [[[0.11059688590609405]], [[0.11569283569903005]], [[0.12124702802513525]]], "count": [217]}, "timestamp": {"min": [0.0], "max": [43.63333333333333], "mean": [21.816666666666663], "std": [12.605477204594658], "count": [1310]}, "frame_index": {"min": [0], "max": [1309], "mean": [654.5], "std": [378.16431613783976], "count": [1310]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1310]}, "index": {"min": [9942], "max": [11251], "mean": [10596.5], "std": [378.16431613783976], "count": [1310]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1310]}}}
+{"episode_index": 8, "stats": {"action": {"min": [-49.33035659790039, -99.82669067382812, 57.14934158325195, -18.73905372619629, -8.379301071166992, 0.17667844891548157, 0.0, 0.0, 0.0], "max": [4.017857074737549, -23.223569869995117, 99.63685607910156, 55.34150695800781, 48.883636474609375, 35.15901184082031, 0.0, 0.0, 0.0], "mean": [-6.288192272186279, -80.3114013671875, 85.10264587402344, 1.7884607315063477, 35.10442352294922, 10.358352661132812, 0.0, 0.0, 0.0], "std": [15.837075233459473, 27.830629348754883, 18.015409469604492, 18.295093536376953, 22.365793228149414, 11.389354705810547, 0.0, 0.0, 0.0], "count": [639]}, "observation.state": {"min": [-49.36896896362305, -99.23664093017578, 60.018131256103516, -18.241758346557617, -8.376068115234375, 0.8316008448600769, -0.00442822091281414, -0.003834951901808381, -1.171875], "max": [4.0831475257873535, -23.240034103393555, 99.6373519897461, 54.871795654296875, 48.766788482666016, 34.78863525390625, 0.00221411045640707, 0.003834951901808381, 1.171875], "mean": [-6.242007255554199, -79.86858367919922, 85.82164764404297, 2.327932119369507, 35.02235412597656, 12.767599105834961, -1.0394885066489223e-05, -6.001478141115513e-06, -0.002750880317762494], "std": [15.894495964050293, 27.97959327697754, 17.363157272338867, 18.5795955657959, 22.3537540435791, 10.055919647216797, 0.0010176387149840593, 0.001313821878284216, 0.39945584535598755], "count": [639]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6055299521383357]], [[0.6147913273248932]], [[0.627382100445165]]], "std": [[[0.23075296102992657]], [[0.2226847748762894]], [[0.21536741892678973]]], "count": [127]}, "observation.images.realsense_depth": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3305264059363903]], [[0.3305264059363903]], [[0.3305264059363903]]], "std": [[[0.3707916244164525]], [[0.3707916244164525]], [[0.3707916244164525]]], "count": [127]}, "observation.images.realsense_rgb": {"min": [[[0.023529411764705882]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[0.8]], [[0.8823529411764706]], [[1.0]]], "mean": [[[0.47835518790849674]], [[0.4793948603391488]], [[0.4748262216303844]]], "std": [[[0.11402446499346035]], [[0.11572161171772766]], [[0.11927248908612129]]], "count": [127]}, "timestamp": {"min": [0.0], "max": [21.266666666666666], "mean": [10.633333333333333], "std": [6.148772837518671], "count": [639]}, "frame_index": {"min": [0], "max": [638], "mean": [319.0], "std": [184.46318512556013], "count": [639]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [639]}, "index": {"min": [11252], "max": [11890], "mean": [11571.0], "std": [184.46318512556013], "count": [639]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [639]}}}
+{"episode_index": 9, "stats": {"action": {"min": [-46.279762268066406, -99.65338134765625, 48.797096252441406, -12.784588813781738, -16.837404251098633, 0.17667844891548157, 0.0, 0.0, 0.0], "max": [4.2410712242126465, -30.15597915649414, 99.63685607910156, 47.72329330444336, 55.34541702270508, 18.109540939331055, 0.0, 0.0, 0.0], "mean": [-9.559242248535156, -79.15682983398438, 79.51387786865234, 3.906386613845825, 36.85841751098633, 8.283492088317871, 0.0, 0.0, 0.0], "std": [16.251670837402344, 26.672956466674805, 18.359676361083984, 15.785967826843262, 22.94098472595215, 8.526650428771973, 0.0, 0.0, 0.0], "count": [758]}, "observation.state": {"min": [-46.54788589477539, -99.32145690917969, 51.85856628417969, -12.185592651367188, -16.190475463867188, 0.8316008448600769, -3.2775421355158657e-19, -0.0025566346012055874, 0.0], "max": [4.3058648109436035, -30.11026382446289, 99.6373519897461, 47.4969482421875, 55.11599349975586, 18.087318420410156, 0.0, 0.0, 0.5859375], "mean": [-9.591917991638184, -78.87564086914062, 80.76329803466797, 4.479562282562256, 36.60464859008789, 11.60885238647461, -8.647868362170382e-22, -6.745737664459739e-06, 0.00154600921086967], "std": [16.31193733215332, 26.686641693115234, 17.87723731994629, 15.956436157226562, 23.012495040893555, 7.131551265716553, 1.6813373297155142e-20, 0.00013115210458636284, 0.03005783073604107], "count": [758]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6062516694467139]], [[0.611764979631899]], [[0.6257682178195353]]], "std": [[[0.23183479205548466]], [[0.22237185094463807]], [[0.21495964760955868]]], "count": [144]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3390672388457698]], [[0.3390672388457698]], [[0.3390672388457698]]], "std": [[[0.3844573177894324]], [[0.3844573177894324]], [[0.3844573177894324]]], "count": [144]}, "observation.images.realsense_rgb": {"min": [[[0.027450980392156862]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[0.7725490196078432]], [[0.7843137254901961]], [[0.8509803921568627]]], "mean": [[[0.4653019684436274]], [[0.4666431071850036]], [[0.46111933778140884]]], "std": [[[0.10276706382480906]], [[0.1084611284270857]], [[0.11451227819042924]]], "count": [144]}, "timestamp": {"min": [0.0], "max": [25.233333333333334], "mean": [12.616666666666665], "std": [7.293852053461036], "count": [758]}, "frame_index": {"min": [0], "max": [757], "mean": [378.5], "std": [218.8155616038311], "count": [758]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [758]}, "index": {"min": [11891], "max": [12648], "mean": [12269.5], "std": [218.8155616038311], "count": [758]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [758]}}}
+{"episode_index": 10, "stats": {"action": {"min": [-62.5, -100.0, 40.898773193359375, -12.259194374084473, -10.533227920532227, 0.17667844891548157, 0.0, 0.0, 0.0], "max": [19.940475463867188, -13.86481761932373, 99.63685607910156, 54.11558532714844, 56.60625076293945, 33.65724563598633, 0.0, 0.0, 0.0], "mean": [-4.400523662567139, -80.54039764404297, 83.19731140136719, 2.557814359664917, 33.65195846557617, 10.059340476989746, 0.0, 0.0, 0.0], "std": [25.09391212463379, 31.142671585083008, 21.74932098388672, 15.286819458007812, 21.521940231323242, 11.153030395507812, 0.0, 0.0, 0.0], "count": [804]}, "observation.state": {"min": [-62.583518981933594, -99.32145690917969, 43.608341217041016, -11.69719123840332, -10.085470199584961, 0.9009009003639221, -3.2775421355158657e-19, -0.0025566346012055874, 0.0], "max": [20.044544219970703, -13.740458488464355, 99.6373519897461, 53.69963455200195, 56.43467712402344, 33.40263366699219, 0.0, 0.0, 0.5859375], "mean": [-4.479373931884766, -80.2105712890625, 84.18482971191406, 2.46885085105896, 33.55002975463867, 11.753049850463867, -4.076544876852985e-22, -3.1798938380234176e-06, 0.0007287779590114951], "std": [25.130964279174805, 31.200666427612305, 21.07554054260254, 14.3756103515625, 21.50290870666504, 10.549050331115723, 1.1551868059987132e-20, 9.010935173137113e-05, 0.020651590079069138], "count": [804]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6116354098583878]], [[0.6185604098583878]], [[0.6334512935729848]]], "std": [[[0.22064431432272746]], [[0.2168125461176557]], [[0.2100449360394695]]], "count": [150]}, "observation.images.realsense_depth": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3395691789215686]], [[0.3395691789215686]], [[0.3395691789215686]]], "std": [[[0.3842053795593716]], [[0.3842053795593716]], [[0.3842053795593716]]], "count": [150]}, "observation.images.realsense_rgb": {"min": [[[0.03529411764705882]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[0.8745098039215686]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.47709393654684096]], [[0.48003950980392157]], [[0.47518519335511983]]], "std": [[[0.09892098749988162]], [[0.11047983494749547]], [[0.11951757995650243]]], "count": [150]}, "timestamp": {"min": [0.0], "max": [26.766666666666666], "mean": [13.383333333333333], "std": [7.73648762299409], "count": [804]}, "frame_index": {"min": [0], "max": [803], "mean": [401.5], "std": [232.09462868982268], "count": [804]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [804]}, "index": {"min": [12649], "max": [13452], "mean": [13050.5], "std": [232.09462868982268], "count": [804]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [804]}}}
+{"episode_index": 11, "stats": {"action": {"min": [-49.10714340209961, -100.0, 37.44893264770508, -5.516637325286865, 3.2834253311157227, 0.0, 0.0, 0.0, 0.0], "max": [4.389881134033203, -11.78509521484375, 99.54607391357422, 53.23992919921875, 56.13343811035156, 22.879858016967773, 0.0, 0.0, 0.0], "mean": [-13.523250579833984, -75.71536254882812, 73.20929718017578, 9.588863372802734, 35.98543930053711, 10.360630989074707, 0.0, 0.0, 0.0], "std": [12.116559028625488, 33.12937545776367, 23.775083541870117, 12.654412269592285, 19.740522384643555, 10.276834487915039, 0.0, 0.0, 0.0], "count": [521]}, "observation.state": {"min": [-49.0720100402832, -99.23664093017578, 39.52855682373047, -4.9084248542785645, 3.345543384552002, 0.9009009003639221, -3.2775421355158657e-19, -0.0025566346012055874, -0.5859375], "max": [4.3058648109436035, -11.789651870727539, 99.6373519897461, 52.96703338623047, 55.9462776184082, 22.52252197265625, 3.2775421355158657e-19, 0.0025566346012055874, 0.5859375], "mean": [-13.636613845825195, -75.46558380126953, 74.71296691894531, 10.189827919006348, 35.70561218261719, 12.693607330322266, 6.290867592824268e-22, 4.907168204226764e-06, -0.001124640111811459], "std": [12.12062931060791, 33.131935119628906, 23.47871208190918, 12.931537628173828, 19.885303497314453, 9.18181324005127, 2.4862831012209177e-20, 0.0001939418143592775, 0.04444817826151848], "count": [521]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6376109462133478]], [[0.6514937282634767]], [[0.665060909111351]]], "std": [[[0.24281166397658485]], [[0.23395999355646324]], [[0.22587109351798307]]], "count": [109]}, "observation.images.realsense_depth": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33969375112430295]], [[0.33969375112430295]], [[0.33969375112430295]]], "std": [[[0.3845672139477415]], [[0.3845672139477415]], [[0.3845672139477415]]], "count": [109]}, "observation.images.realsense_rgb": {"min": [[[0.00392156862745098]], [[0.047058823529411764]], [[0.043137254901960784]]], "max": [[[0.9607843137254902]], [[1.0]], [[1.0]]], "mean": [[[0.4708776158781555]], [[0.4714700691821071]], [[0.4662335364573964]]], "std": [[[0.10636137587176264]], [[0.11407595702683639]], [[0.12018865121016942]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.333333333333332], "mean": [8.666666666666666], "std": [5.013315602805526], "count": [521]}, "frame_index": {"min": [0], "max": [520], "mean": [260.0], "std": [150.3994680841658], "count": [521]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [521]}, "index": {"min": [13453], "max": [13973], "mean": [13713.0], "std": [150.3994680841658], "count": [521]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [521]}}}
+{"episode_index": 12, "stats": {"action": {"min": [-63.54166793823242, -99.65338134765625, 53.154788970947266, -28.89667320251465, 6.172839641571045, 0.0, 0.0, 0.0, 0.0], "max": [52.45535659790039, -11.265164375305176, 99.90921783447266, 35.9894905090332, 50.77488708496094, 22.349822998046875, 0.0, 0.0, 0.0], "mean": [4.240360736846924, -67.65587615966797, 86.66229248046875, -8.311628341674805, 37.227176666259766, 9.402099609375, 0.0, 0.0, 0.0], "std": [29.236923217773438, 29.135669708251953, 17.13469696044922, 18.29671287536621, 15.590986251831055, 9.048105239868164, 0.0, 0.0, 0.0], "count": [1098]}, "observation.state": {"min": [-63.32590866088867, -99.32145690917969, 55.57570266723633, -28.351648330688477, -9.743589401245117, 0.7623007893562317, -3.2775421355158657e-19, -0.0025566346012055874, -0.5859375], "max": [66.5924301147461, -11.195928573608398, 100.0, 35.72649383544922, 50.81806945800781, 22.03742218017578, 3.2775421355158657e-19, 0.0025566346012055874, 0.5859375], "mean": [4.644474983215332, -67.33275604248047, 87.54309844970703, -8.014503479003906, 36.86528778076172, 12.382085800170898, 2.686509963697299e-21, 2.0956023945473135e-05, -0.004802766256034374], "std": [29.441604614257812, 29.287965774536133, 16.243741989135742, 18.294042587280273, 15.85403823852539, 7.7687883377075195, 4.069359936776942e-20, 0.00031742858118377626, 0.07274917513132095], "count": [1098]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5763250601995183]], [[0.5835816520467836]], [[0.599212075378397]]], "std": [[[0.23649674578835192]], [[0.2307943783759537]], [[0.2211416010872952]]], "count": [190]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3367640372377021]], [[0.3367640372377021]], [[0.3367640372377021]]], "std": [[[0.37975185342110207]], [[0.37975185342110207]], [[0.37975185342110207]]], "count": [190]}, "observation.images.realsense_rgb": {"min": [[[0.0196078431372549]], [[0.03137254901960784]], [[0.03529411764705882]]], "max": [[[0.7529411764705882]], [[0.7607843137254902]], [[0.803921568627451]]], "mean": [[[0.4670697486670107]], [[0.4707321626676987]], [[0.4666064424234606]]], "std": [[[0.11377643604783334]], [[0.11449144772958599]], [[0.11775049927083817]]], "count": [190]}, "timestamp": {"min": [0.0], "max": [36.56666666666667], "mean": [18.28333333333333], "std": [10.565505544336599], "count": [1098]}, "frame_index": {"min": [0], "max": [1097], "mean": [548.5], "std": [316.965166330098], "count": [1098]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1098]}, "index": {"min": [15150], "max": [16247], "mean": [15698.5], "std": [316.965166330098], "count": [1098]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1098]}}}
+{"episode_index": 13, "stats": {"action": {"min": [-61.45833206176758, -99.65338134765625, 54.78892517089844, -40.54290771484375, 8.064092636108398, 0.0, 0.0, 0.0, 0.0], "max": [31.994047164916992, -16.811092376708984, 99.63685607910156, 77.23292541503906, 52.50853729248047, 29.328622817993164, 0.0, 0.0, 0.0], "mean": [-14.766816139221191, -84.42157745361328, 89.30191802978516, 0.8071470856666565, 47.112548828125, 9.531471252441406, 0.0, 0.0, 0.0], "std": [24.291419982910156, 28.292770385742188, 16.000999450683594, 21.415786743164062, 7.148438453674316, 10.318655967712402, 0.0, 0.0, 0.0], "count": [910]}, "observation.state": {"min": [-61.32145690917969, -99.32145690917969, 57.7515869140625, -40.07326126098633, 8.229548454284668, 0.9009009003639221, -3.2775421355158657e-19, -0.0025566346012055874, -0.5859375], "max": [31.700075149536133, -16.878711700439453, 99.6373519897461, 75.82417297363281, 52.625152587890625, 28.690229415893555, 3.2775421355158657e-19, 0.0025566346012055874, 0.5859375], "mean": [-15.157295227050781, -84.17630004882812, 89.95823669433594, 0.8118670582771301, 47.23408889770508, 13.393471717834473, 1.4406776123256637e-21, 1.1237953913223464e-05, -0.002575549529865384], "std": [24.163164138793945, 28.310970306396484, 15.206082344055176, 20.58235740661621, 6.636817455291748, 8.303847312927246, 6.870099463710301e-20, 0.000535899365786463, 0.12281902879476547], "count": [910]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6016487126163597]], [[0.616404044117647]], [[0.6333171680035651]]], "std": [[[0.2261864094857783]], [[0.21585538815238417]], [[0.2054110371903893]]], "count": [165]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33842575262428204]], [[0.33842575262428204]], [[0.33842575262428204]]], "std": [[[0.38175001696933575]], [[0.38175001696933575]], [[0.38175001696933575]]], "count": [165]}, "observation.images.realsense_rgb": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.0392156862745098]]], "max": [[[0.8196078431372549]], [[0.9019607843137255]], [[1.0]]], "mean": [[[0.47214019484056247]], [[0.473970084422658]], [[0.4691115654089919]]], "std": [[[0.10614135886152305]], [[0.11360700518671908]], [[0.12050512150857907]]], "count": [165]}, "timestamp": {"min": [0.0], "max": [30.3], "mean": [15.149999999999999], "std": [8.756473795617351], "count": [910]}, "frame_index": {"min": [0], "max": [909], "mean": [454.5], "std": [262.69421386852054], "count": [910]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [910]}, "index": {"min": [16248], "max": [17157], "mean": [16702.5], "std": [262.69421386852054], "count": [910]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [910]}}}
+{"episode_index": 14, "stats": {"action": {"min": [-62.94643020629883, -100.0, 47.798458099365234, -20.052539825439453, -17.310218811035156, 0.17667844891548157, 0.0, 0.0, 0.0], "max": [31.91964340209961, -15.944540977478027, 99.45529174804688, 46.584938049316406, 57.60441207885742, 31.00706672668457, 0.0, 0.0, 0.0], "mean": [-0.081349678337574, -60.59511184692383, 72.68113708496094, -1.6700717210769653, 41.31084442138672, 9.965105056762695, 0.0, 0.0, 0.0], "std": [24.062362670898438, 34.86769104003906, 22.220914840698242, 16.770164489746094, 20.102943420410156, 11.30884075164795, 0.0, 0.0, 0.0], "count": [845]}, "observation.state": {"min": [-62.954715728759766, -99.23664093017578, 51.04261016845703, -19.560440063476562, -17.118436813354492, 0.9009009003639221, -0.00221411045640707, -0.003834951901808381, -0.5859375], "max": [32.219749450683594, -15.521628379821777, 99.6373519897461, 46.32478713989258, 57.55799865722656, 30.353429794311523, 0.00221411045640707, 0.0025566346012055874, 1.171875], "mean": [0.2852228283882141, -60.27180099487305, 73.7251205444336, -1.555675745010376, 41.23040008544922, 11.535430908203125, -1.5721494492026977e-05, -2.1179221221245825e-05, -0.0013868343085050583], "std": [23.939851760864258, 34.975608825683594, 21.594043731689453, 16.211950302124023, 20.07364845275879, 10.432426452636719, 0.0004933727905154228, 0.0007114900508895516, 0.20156392455101013], "count": [845]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6103668025703871]], [[0.6243387956678398]], [[0.6379333089806436]]], "std": [[[0.24663855708423954]], [[0.2417528758674103]], [[0.23336348628521478]]], "count": [156]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.338128820491872]], [[0.338128820491872]], [[0.338128820491872]]], "std": [[[0.3819626891231608]], [[0.3819626891231608]], [[0.3819626891231608]]], "count": [156]}, "observation.images.realsense_rgb": {"min": [[[0.023529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[0.7568627450980392]], [[0.7843137254901961]], [[0.8156862745098039]]], "mean": [[[0.4693573010935143]], [[0.4707808938746439]], [[0.465756669494721]]], "std": [[[0.10701897424063471]], [[0.11158617147017108]], [[0.11723336426564619]]], "count": [156]}, "timestamp": {"min": [0.0], "max": [28.133333333333333], "mean": [14.066666666666665], "std": [8.1310105972956], "count": [845]}, "frame_index": {"min": [0], "max": [844], "mean": [422.0], "std": [243.93031791886796], "count": [845]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [845]}, "index": {"min": [17158], "max": [18002], "mean": [17580.0], "std": [243.93031791886796], "count": [845]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [845]}}}
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..686cf1575dec3788b9067701260d1fc038e745ae
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,156 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lekiwi_client",
+    "total_episodes": 15,
+    "total_frames": 18003,
+    "total_tasks": 1,
+    "total_videos": 45,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:15"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "arm_shoulder_pan.pos",
+                "arm_shoulder_lift.pos",
+                "arm_elbow_flex.pos",
+                "arm_wrist_flex.pos",
+                "arm_wrist_roll.pos",
+                "arm_gripper.pos",
+                "x.vel",
+                "y.vel",
+                "theta.vel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "arm_shoulder_pan.pos",
+                "arm_shoulder_lift.pos",
+                "arm_elbow_flex.pos",
+                "arm_wrist_flex.pos",
+                "arm_wrist_roll.pos",
+                "arm_gripper.pos",
+                "x.vel",
+                "y.vel",
+                "theta.vel"
+            ]
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.realsense_depth": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.realsense_rgb": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21369cc66d0925dd8270c047f97fc950b9df5464
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Pick up an empty bottle and put them in the top shelf of the cart"}
diff --git a/videos/.DS_Store b/videos/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..7630d85493f8bd4a5164f7190da35f8a6ebb14d5
Binary files /dev/null and b/videos/.DS_Store differ
diff --git a/videos/chunk-000/.DS_Store b/videos/chunk-000/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..b6bea9fe043ed160dbbf9fc7e2731ee161f9ff6b
Binary files /dev/null and b/videos/chunk-000/.DS_Store differ
diff --git a/videos/chunk-000/observation.images.realsense_depth/.DS_Store b/videos/chunk-000/observation.images.realsense_depth/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/videos/chunk-000/observation.images.realsense_depth/.DS_Store differ
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000000.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e3c43de7f865adff1c04f5fe1b64a3f75cce7ce
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f5c733c70c3d423b18009765d093b08b92a746a1cbac6b654b6403fe1fdfde
+size 12839579
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000001.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63a8d7fac2ed919fa2e733f9edf6ff029badc691
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6438d92f273d4069affa934706e3858b3cfec4443344fe305cdbe0c88d0b5359
+size 12617907
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000002.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd84a63f031cc3ec2d9c5712c420bb4643883d64
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451e5e97e2b23a8b5d143eb637c5542e36a355e489056410b38fbf73bee1ceb8
+size 13216990
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000003.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9ab12dea46f0e82e5e8444668a21a6ad0b340dc
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858e81fe680695042011df33e35629842d1b0c2885dfa615c5642678bb1bf598
+size 12628631
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000004.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7429df844a357d4e2bd9fa83a799515c79c66ebd
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e83deecb600dc9b21c1f8cbdce83b4ce7a095dcae597878a5cae7ab8d380c94d
+size 3500675
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000005.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd3bda4c5fe2b40417afc9e66341c599bf460425
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca71ef5bd89c47f39a8e09f75abd4c0cddb94bb216d4658fb896ffd46920aeff
+size 5968672
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000006.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..894fc3785073debdb441d83289a652711ddadbaa
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de4b976faebce4196e5b37e05ed58005a982bfe9a8032167692ba39e12b4fbea
+size 4758773
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000007.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20bbcf40577a55324e119bf030466ab2171ebd68
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bf4554036f4b419683b56fabfa194df7f170c68b58615e8d45bd183256850b
+size 6344735
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000008.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e7a10b7c1ae201dcd976cb47610277418b83f6b
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8161a39b2de332e13f2c10833911faad37c327efa857659a71c70e3361e377d4
+size 3075176
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000009.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad8d05c58903b79e8a749344805bf4febf0d4db1
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d06b684ef67bb8d02b952f8e42451d29d64aa6d08f476cff4248fb732080693
+size 2238235
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000010.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bf07efb14e15beb6209ff9e5e44695bd6c62d49
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016e4645c3a69f72e774a237dd4172f7f9920059a75bbd3b2abf64c0506e5790
+size 2437014
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000011.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e6434259ad6efeb59461b6dc68931ab368a2786
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d9fcc42c04733b5312d2736071a6c486cbeea0c09dc96d6bd573e6d890f943
+size 1493788
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000012.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c519dff12dab4787840b8b023b82499cb5cfe34
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:936364f6421178ef4f67841e2635a667f312a8c308c4181e6b51f52db894ce47
+size 3947496
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000013.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd8b538168bd99afe2fd3ebd23da0d9b7417bf07
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c42e3126432b296bd94388f23eda955e12884d945820b335a14eb7e0b22bb6
+size 3210547
diff --git a/videos/chunk-000/observation.images.realsense_depth/episode_000014.mp4 b/videos/chunk-000/observation.images.realsense_depth/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..208310bac3bab69a211a71bb6fccee119cb7d104
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_depth/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac00b5c4ea98c5fdf3a96925e47df2b239c7ecb5e8d83dad8135b9d3ee013f2
+size 2803943
diff --git a/videos/chunk-000/observation.images.realsense_rgb/.DS_Store b/videos/chunk-000/observation.images.realsense_rgb/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/videos/chunk-000/observation.images.realsense_rgb/.DS_Store differ
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000000.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a97bd0586f7b036c7cf8e7c464d5d75d3433e6fa
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efddf6148bba23b3613ba1effd0ff8f8ebb670df2d2fd6831218ab0316e775b
+size 3938946
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000001.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..760dd80adf686210279abafb6a594bba2f52cccf
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db0a74d433d23f899e7dd3718367fee46e7b1c1bd49429f51de4d48cd11f0b6
+size 3570579
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000002.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..505d3b14fbf3850451f9b4b880b13c5575800b71
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b7e2b10454d42a08224aeb16b3f33ce05d0118e99708c2c70396f1c10bb192
+size 4076926
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000003.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..137972a9f591f46e9a4b2d5eddc1d09a68614a54
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc557aeae5f6b179936b37abf16cc92b7483afd0535314c457b01f1862289d5
+size 3649746
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000004.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2210f4e5da6a6a5db66aeb1a5991d20e4d911da8
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63492934896c9383204ee0c6d420c86485d22b156570b3b5a65644007a37700e
+size 1108883
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000005.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de3f4fad4e124d2b030e9d6a250f7d3a152a48a0
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1aff1a5ebeaaae2ec956029e03cb1dee03a7945ca214ddfb8ac578cf98e478e
+size 1577533
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000006.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26eb300ff9fa303b0591e182f54f3e03de5d2362
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3df62ef77e6eb3354b594a6238ceb3bbc3f48de1bfb44560ff2fa705ae3af5
+size 1582354
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000007.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa6e739b04718ab1e0abed0baf86384071a35de4
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ffba59b402ce5ab8a2c68d915d51ac0fc700b8af966e20261af8cf418d833e8
+size 2100241
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000008.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..508172818ea29f2a60311a3dd4388ae208f90cd7
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6642bc95ec03855a37eb2ad4bfca8ae3f71273779f8cfb1377397363f3b4f410
+size 923873
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000009.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d699070ce14d5e231f112232378239f8e17daaf9
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a271a4232cbd3a9ddebd3c50f1b44f1b9c65001f02ac19974a37ef7de80ed804
+size 1137390
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000010.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97465f10d187c88b6621b952130306290dbc1056
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb772e549b033386b12c98de26ffbf692cd1e2c9901c61f90fffd7b1d32289a
+size 1426432
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000011.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fff5ddd92592d800cef708fc27d64bcce3b5e16
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718c5b0555e286368e2b59edc1f2fb72f306f2277923c7d7d99214e0dd1bd4f9
+size 763346
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000012.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa7e01245d8d4e3f8a2a39b77fb07790ec17e70b
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b02f55ae1a43ca423203a602d4bab03f6d6966db5a6bc54550f79592d977df1
+size 1506616
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000013.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc559e21935a4594ff013ac9a4b3405868d10758
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f027522ba027005eecf53d40218e1e8fae2b8308efb53895a52fa236e1deb66
+size 1386411
diff --git a/videos/chunk-000/observation.images.realsense_rgb/episode_000014.mp4 b/videos/chunk-000/observation.images.realsense_rgb/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4dbf73cf7f8eb292e2fad77578023f52b327c66
--- /dev/null
+++ b/videos/chunk-000/observation.images.realsense_rgb/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f01646636dd73731b925c4d8b8a7f0888799f8985908d37cb50a0f36c6e9d75c
+size 1252202
diff --git a/videos/chunk-000/observation.images.wrist/.DS_Store b/videos/chunk-000/observation.images.wrist/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/videos/chunk-000/observation.images.wrist/.DS_Store differ
diff --git a/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90e451297e472d7db459cc7a00363498a9f0f8cf
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73617ffd3432310ac8fd7de25d5e462376a2723edbf2067b52e6e2007d117adf
+size 20786156
diff --git a/videos/chunk-000/observation.images.wrist/episode_000001.mp4 b/videos/chunk-000/observation.images.wrist/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..254b182e009f2ba86380290ff3aac1736d3c1497
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:054c76d2039195f2938df5c882fa9b83fabe19b9601547af79649575e71c3625
+size 25090713
diff --git a/videos/chunk-000/observation.images.wrist/episode_000002.mp4 b/videos/chunk-000/observation.images.wrist/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9facf89b4fac5eb887e9db7ff31c9edf9eab9b3
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4afe339cb8307e7f6570a0ff858b942b54c91a68d11513cc9fce5dde84d93e
+size 21266946
diff --git a/videos/chunk-000/observation.images.wrist/episode_000003.mp4 b/videos/chunk-000/observation.images.wrist/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a99b0cef3d88d3199a3bdb3bc26513c73880bc23
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee2b303ef082e1f657fd232ac13efa7da702ebf46e536780112983cc3791b5b4
+size 19107102
diff --git a/videos/chunk-000/observation.images.wrist/episode_000004.mp4 b/videos/chunk-000/observation.images.wrist/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c49d6bb9dc8f262163e048de2026a975685ebfe
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01efd6a1218e0bd5c149b268f32ac2ea38376b4614605950defff10ead0e099f
+size 8174530
diff --git a/videos/chunk-000/observation.images.wrist/episode_000005.mp4 b/videos/chunk-000/observation.images.wrist/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca084e7c29dc401ea0f29cc7e525027eeb5f380a
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a80002dfaf53d5f7fa68f5f713fb9b1ae262877ff17519405f348e760e484a7
+size 8814382
diff --git a/videos/chunk-000/observation.images.wrist/episode_000006.mp4 b/videos/chunk-000/observation.images.wrist/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88ff45ab280b50e9c0f8c17a2866e58c283cc571
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e09ca5cad5f375ddad931d8274c403d055f2631acf5a69c6dec728f6c3b0ad95
+size 11413630
diff --git a/videos/chunk-000/observation.images.wrist/episode_000007.mp4 b/videos/chunk-000/observation.images.wrist/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6677e18569fe0149d2df5b3e94f3f5f182e4d6a5
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:254a620ac2fc99b11538854e45b82f2ee65f195df93d6d4aec616a848b182425
+size 10517028
diff --git a/videos/chunk-000/observation.images.wrist/episode_000008.mp4 b/videos/chunk-000/observation.images.wrist/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1274dffd838488e1cbc8b565f94a101e0f0b4de
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90fea74b1ecfa9d447b032ce3716ef5dc87187bbd684232e966039165b3b4e8b
+size 5762897
diff --git a/videos/chunk-000/observation.images.wrist/episode_000009.mp4 b/videos/chunk-000/observation.images.wrist/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5827ed80f4d28de2bf18e184aecfe60cc7364e92
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8beb2b70ad2fc8783e26a8840bec507b226f331af2dd7211ff07aa540c6ece8
+size 7160635
diff --git a/videos/chunk-000/observation.images.wrist/episode_000010.mp4 b/videos/chunk-000/observation.images.wrist/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c6bcab647e4b4c5b6307cb00f0bd5fb7314ce13
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fda877f23601b19abf2af1a1ef12cef6b9c6506c5c5d73b8b91b78b6fc5a70d
+size 6176819
diff --git a/videos/chunk-000/observation.images.wrist/episode_000011.mp4 b/videos/chunk-000/observation.images.wrist/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73e017964cf7551a4a0c37aad4133b5f6207fe73
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b6715fa911a0820caec368751d2ec607c4b5a039349cae3be86404a59e2927b
+size 4611022
diff --git a/videos/chunk-000/observation.images.wrist/episode_000012.mp4 b/videos/chunk-000/observation.images.wrist/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23a9c0c61998c6fb2f70bd8d3ba52b69a650c077
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd828c631f8ca61f5401338165d573189eacf1898d73108268e0595c6e6e2e43
+size 10506918
diff --git a/videos/chunk-000/observation.images.wrist/episode_000013.mp4 b/videos/chunk-000/observation.images.wrist/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1f4acf3a925f9d2b0ef6973794fee155ab0b6c6
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6a00f29426baf9e5598c52f448ac21282bc8412be8c07d4ebc2fa82fbcaacd
+size 7944757
diff --git a/videos/chunk-000/observation.images.wrist/episode_000014.mp4 b/videos/chunk-000/observation.images.wrist/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..751799ff3f78627b67dd0d4817df450cdd2941a6
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72fb7aac5f198f88084890cae355f6f7b501f1497e22629298377758056f1b51
+size 7120670