diff --git a/redirect_red2green/episode_0002/audios/audio_000035_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000035_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c16cd409f2304e83a75e9a529c1ba17a568184f4
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000035_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12999a48c17a10493de154aac798fa1941c071bd006f29b9815488a98ca13d6
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000036_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000036_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..81c051742c441c7459fbb03fe0869a2f76ef129c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000036_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69664df9e056eadecaae49f8ca7aa95e0d861eec199f1a58d6b894254e06c24a
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000037_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000037_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cbed4fe7cc49163bba9de445167683ebb15dea14
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000037_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c493abd43b631ace291ea381ddc862d873999f74cfdc42eb5827c79be9b6ce57
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000038_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000038_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..981dc779105e3c6c7cd8f9144c03611062269bab
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000038_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bedac700bb37c071e86613a98bf928335328e75139f05929e8545f7ac285f432
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000039_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000039_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b66df8c6825791374d7b64ad11c5f80e72766
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000039_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a880b8e71852dbb7fdde8e85e8effc48f0e1898aa1a73504bd6a2bfece99252
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000040_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000040_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eea859324d8fb11821f4c399b95a55e6d581850c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000040_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c4427d7f266652f1ab897c28cdc39b2c85eab309de6d298e971ff131bbf25c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000041_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000041_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6367d722740cdbd19c45b16b9d8e5c84dd1b9a3
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000041_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b4208abafcdd9579c7b83c7e85bde4c4f854ff81640b8c9d813822ee4156e67
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000042_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000042_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02782f102f99d6851fb4ede8a65915619777f54c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000042_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0134b9fe22cee9684cea8000ba1bcd0e47c3664129a50dfcc5974f8c1a32a167
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000043_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000043_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6afa8a11d51803ce26e664f8431b7d5d4e6414d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000043_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f847d5b73396a2bbbe007449d32bc082a715e6ddcbcd2250b69f1beca76e3f55
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000044_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000044_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44aefdc7f5f3dbf101dc26f349ee3f0da7c2160a
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000044_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5235fb95580addb0293aff958363f674a510eaf2936cd24eb27114b8bd867292
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000045_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000045_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c984df6c16b23e4772fc8805ef522cc8b0fde0eb
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000045_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b42f36221b944ba9c722ff07fb8f75e7221f5027d42bb5076d851e3c1bb0ca3
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000046_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000046_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..818e9227f6c453e761c27e382e081af2323d8187
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000046_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c888e674be726ac2ec87ba19cb543262ac7fe77713eddda254b57164680988
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000047_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000047_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92ef010c74da4fcf3abda73f477dc1a5080d2997
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000047_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989efb4b8dff370741652ac3b5a788d7f13a778599f375b590ce0b9b8b606433
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000048_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000048_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..59463d634b3756b731916901c38cef68c0c0030f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000048_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0071c81b7a95a5390a5b6006f9d9df746bd52fa1c8943578e403d6202b205fd
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000049_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000049_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e86c134467d7748bc80427b7fffcc8ba06d274dd
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000049_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830418cb9ef221dbfb7f37fb73c195a26a9653b8753853a884bb4a202a83dc15
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000050_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000050_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93ff24c68e388e10f08d06078e23261a8b4b62c3
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000050_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04275b79f983e1efe027522f61331f7379e0d90074db2b564b79cef5259f033
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000051_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000051_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..90dea9aac09cf9cbc3f1415631936210cb1a8b1f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000051_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b599daa95852ba0df68efd8114d69ec8b9aa268d2d3bc092ac9491d51bdf30
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000052_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000052_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16205eb2e7ba78b6e6fa0428e259472c6b1d5e34
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000052_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778a8761229b628754a17d7db3ef6a98102fbcf85fa609e95ae3e16cd7d513ac
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000053_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000053_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..468e0bd8a58548b3062e49d49108b990d6463a97
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000053_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7893ab4f02fa098c099c238d6eb491bbb73010e636a7bf9433ffc5470e2b840
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000054_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000054_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b620fc3a54cf61e6a5bd370bedca3c51e7824b17
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000054_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23318502bcb8dae30ebd407fcf0aaa107d8ef3c5b2ee5071551767b6e90650e7
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000055_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000055_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..310d1e69dedc45be52167cd13aa566a4a6f5f0b0
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000055_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a3217664b8dfb3406e1ce6b358c18acaf1d83c2ba7d7c3386e12d4d3de272ce
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000056_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000056_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fff8bead03f556e2111d4932740083b4db06e8d9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000056_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4e15a33a4197692f56b59387d72f7c360b702f5f06941d63d7a19b2d790c1e
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000057_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000057_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..351854aeb398ea9f0b851c2a2d70b2e654aed888
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000057_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7149f18a6f100ae822c3964ac5b89cc3bd45ac9453af9ac3e51f6fa984ed7754
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000058_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000058_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..126c1ff60e888517f45d54d4f2565d15580e4ce6
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000058_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f64ff5fa0b57f2a037f8654ac7117ce31bc5a4ae2f01d2258a116cbb51984a
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000059_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000059_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c9c08414d3357fc906fe2883e8e056ae45c7cb51
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000059_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd18d0976183ef85eadf8796e748f8e46f739e1b44826cd45a363feb68f23d0d
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000060_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000060_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c29720005b339671d52c24a317ae7287d140a83
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000060_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9800eed493ae4900fca09bcd630dc37ce6e83fa46a595649accce922882dcb71
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000061_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000061_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7059d43e2e7927fd8e809e4b2d3b8763f618e806
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000061_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efd9e573b0c7c0f99b7d9007f092ba4d0c1ca3cb2ed79ff20f61b69aaaf198b
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000062_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000062_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2cfea564db9896d7fdb0f089a18be2a4b93cf19c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000062_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0309ccadefa139e99f01d5747319d4756e6a3de93d586a34f4e9816b92557637
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000063_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000063_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c761c251f56a0b6f2c4212a9a7f75aa8572a95cd
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000063_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ef8241a6ac967f1ba37d5ee4eb3546aa08f307fc2801ec094516247f492e0d3
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000064_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000064_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa834dbcfd15b48bf2482d9f6050628d42d158
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000064_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f53f11aa43a3546bebe1ed0cfd4a64d82f9bfae7e33a32038037d49f1b2b197
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000065_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000065_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f61f8f6247cec61609449ca9d139db3c754fa20e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000065_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75409d7faae015a476834b94481f0588aad6ed9422fa037e22723ca84b9cbb2
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000066_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000066_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..293018db17a51f1497422c4177ba4fcc771fa4c7
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000066_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e0b0fb9eaebba0217e6af75da605526b96a3df46abbab4ac53c0e800d9af65
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000067_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000067_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dd3f002d43ff0ca39778539972939d21b917c8f1
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000067_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b43fcee35edbe1f6e08d9e177aa429145c3f5cbcf66491f23f9bda06f4b28e
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000068_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000068_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2bb67bed91be037430f596d3c41cfbf821909d8c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000068_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48dc4723a9c73d44607d83ae8677effd8040b387d263fbb6790888c156f7792
+size 1502
diff --git a/redirect_red2green/episode_0002/audios/audio_000069_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000069_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..244548f56d4b72ebd39d2f1b4a104ea13dd0114a
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000069_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:110fea9b1509ee659f9668483757230e597419d018e5c8a75d110d3cb5c4ad2c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000070_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000070_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..270fedf6832e55d8fa6979aba3cbaed184a3034c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000070_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c9da017ee8db68594c90c1a22eb491e40f2f3292a37a11add63902da6215ff
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000071_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000071_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b8d1418974c0bc65620149489bd29713bb23bd4
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000071_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab7d2487ff7e387fa54eb45a36e814c63d01502ccbd272681babb90995a1f2e
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000072_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000072_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..761928d3041b106938c33808fbeb0f2e3f117c6a
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000072_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e1a837d668f58134c8ecbb2ba37280d92e107bb630bac183054b3b42861ab4
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000073_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000073_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df29c837db284985b7ad00cd87eebf2ab6d74e8d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000073_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e55b9159941410a4e2be04eb4c95e8587d70055aeb4228a0d4145db4347dc05b
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000074_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000074_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c96535d856747a8f6532edb5ecfb462c58064463
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000074_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ec44f4a6ea2d833184d2ccf519e984f08b7de6376cf3e240a2407a33dafb6a
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000075_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000075_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8d13e7e883f719db7e5cb5cb8a5c03d786cb13d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000075_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ccc6c0d4dcf72c7b8920126b182a084f9e482ad47f7a46a00bc695df86cc0b
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000076_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000076_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c2280f77611e96691e2cc067e4de0895738a6cd4
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000076_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abd66b2a86eb645a6160428001e734f11ab10631381278d9c1202ba2d7b670d
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000077_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000077_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1662f276d32683f81f7403ca7abf77929ec4bde
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000077_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17fe46041207c21012f2aeb30f2fba440812c3483f78b8cd465fc880db447fb
+size 1494
diff --git a/redirect_red2green/episode_0002/audios/audio_000078_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000078_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8bcc3da75f9bb8923aaa3a3b223939581aa2d1fe
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000078_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e327eb7c3cab8fcca6e9f7a1d91df99de19ab061bf5bf2d1ffe2d08229be2022
+size 714
diff --git a/redirect_red2green/episode_0002/audios/audio_000079_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000079_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b8cba6eb021d0fb640c9dfc57406785157966f28
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000079_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a8b85097eff90c020762f47db5310b0d4e4d396ba97d5ff33eb80920f1e412
+size 1792
diff --git a/redirect_red2green/episode_0002/audios/audio_000080_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000080_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71c129d4d18e585df019b26049c70b5782a38c17
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000080_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc872bad87dd25581d8cf80b4c196c1caf4dce9d37ff8e17b2209293c75c601
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000081_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000081_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9109704a9a3336b7d98b1ba26ecb143077e8bd4c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000081_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1d4c5651ddab8ae02b55aceb11ccb974951f6f6ef4ae8024508e302b755842
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000082_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000082_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22bd41b1b07ee89cc6e708c5e7f269457cd428b5
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000082_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5de1e9385c82ec78dd6f972f4cc01b0cce219d4e9d90856597c524eb87db46
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000083_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000083_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e2d24d1b9bd0577ced0bc3801383e44d63f1609
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000083_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60002f4e931172106964bec66b79cad2bc5c646b4cc0d12afde21286d7932fb
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000084_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000084_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..755f7f16536c5d4a9806dce9f2675d5157d96166
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000084_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7dd45c80597bd44c4b6bfd1edd208a3cb1bfbc5eb59d41c880f50e948658698
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000085_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000085_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ee35328585100f4ac978fd86718104972960fa82
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000085_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9fc0d6522f4d1f2ab4d10c588e1c9255e8f881a86bd081d2abef8fdd0b8555
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000086_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000086_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22c051d3fab5f6cb81e1357480fc8ab39c510103
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000086_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19ac128af6379cc8c0d358f39a63f0e14524205e8f6156095d702b947be5a2a
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000087_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000087_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3446c0a41013f348fc1a7f9ec4fd0d2cdecaf53c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000087_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4d39c717f96e77d959940d525beee5b6bbf41f82a20e748d861cfa53dd23c6
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000088_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000088_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f5fbc9a455f43b7f8adbc723f668b3961bc67beb
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000088_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a1ebe5defe1eb2682fa3cc77ec0c86496109a86275303339594712dd61af4d
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000089_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000089_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72a3cb5962b74d013e805c53def2e157fc1e6f55
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000089_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59816a93519f4b14434f950dea212dccc89dde5ff4c0231c3eb69a7799a59dda
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000090_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000090_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a2bc018aaf4f933b3fbb5f15fb291937bddf869
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000090_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f899246ca8abb1b5ade5f11318203c6ecc853c2f3d3542451374fd2c198f526
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000091_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000091_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0f1fd8dfa4be44578f16873af70a9a24f8aca7fd
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000091_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4502e84667d843d39779a3c624c3498ff6533517428d9f7275661daa46104bd0
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000092_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000092_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a569bb4e35b498ae8b549fecc06cef10ac06c8dc
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000092_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e9626223cafd5c3a39e983e73c4771e4ef9adafa86a1d7e61c573999e172f3
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000093_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000093_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..33f42b8497ebcb4496f68df14e2fc38542000314
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000093_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c22d4ead4877de5cbfc81216d6e8031a9ff88ffdbc5508dc33eef9331837d85
+size 1792
diff --git a/redirect_red2green/episode_0002/audios/audio_000094_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000094_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..017c497f431eaca972d672dca3582a7bc8a4a4df
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000094_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb59f49e355ec318fc83953c2a854244d703bedf665ba4a05f6de209842d6337
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000095_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000095_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..117361ecf9ea2e49d6eb7b763ceae08fb165c12c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000095_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1609c30f5c0ebca432563467909f1d0da33adc7a5c7042f157d0fc6c47433e
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000096_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000096_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..baec729c36c060cb0ed5f460877a6d72ec07da9d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000096_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5ccb8e9b35e8cde81277fbd125a45f587956e9b3442ab639ed497bfe1d0dfc
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000097_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000097_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16ef184a8dc69a7ad34fcd938062d42458db2b5d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000097_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eeea8ff8cabcb30e48256cf92728b51cf57bc7419c1aad6c87ddd9eb555f124
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000098_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000098_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d90c32533e903b4c59f5701f9002ad486aaa895
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000098_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:506719fad28632e6a93f2e48a2b9c9b0908e03c59a6c0dce03b92be286752e3c
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000099_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000099_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9e5966668dba9c590bec73e172456462c994e321
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000099_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c232e6e63ea2644e13bfa52c692e65a65bc4a4151d289ffa9c19a87a7750bb
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000100_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000100_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e37df2c9a03169fe1caf37d8477fc3d77ecc65e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000100_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d672f7251fe792dce13a0178691f54f739d56be233a37ddce06e6d6422e74184
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000101_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000101_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c42d90966920f5df6c130db0e96afdcba036f3b5
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000101_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a24c4230a3cd9287ad4d7c7d1909b04a2b19d5f6745633b2bf3737c641cfaf
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000102_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000102_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..abe2931bb083292454f0d2801bdb60f4705694c1
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000102_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960b3996c79f44c135980b2096a35b025f7a2f6294b9c942072472f1cf33f489
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000103_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000103_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..395dab3bef71006b9c8352269b9fdfd13ba8e547
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000103_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2b23ac46c00e6c0e4e6d59ea0996d9113c786be5cb2c697e6e2da37869ff8f
+size 952
diff --git a/redirect_red2green/episode_0002/audios/audio_000104_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000104_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a2951424ab74544d4e62e214564dfc9893d7848
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000104_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:669ae52b6ef84b11a64a14cfddefff8b7af00a45cf9fe12b074ad40ecaed0839
+size 1544
diff --git a/redirect_red2green/episode_0002/audios/audio_000105_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000105_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d5862670f9a46ea14a1f947f3a9df151093b240
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000105_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f93a60fc4634ffa059577f199b8b7c3ebaa8cf0648224b6079749d9921f5c492
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000106_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000106_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4eade09256030df09ded74a3485255c5535219b6
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000106_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa1df976b793b9edf87c5b35905ad606e29b268abbdb197c66f5ea708a3c419d
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000107_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000107_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6510302d0474654d5f277acc5eedd26f76b0c9b5
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000107_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4b241701471a8d10fa36f5384baf7d25f2ef6eb6300c0dc299d04ae4e41ea3
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000108_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000108_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6164a28f1fa097b209613c501158a31898106259
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000108_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2cd40f8aa49ae1d85a8a0ba59167d37c180a6c533cf1a62aaaa138285a441b2
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000109_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000109_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e4639547205ed472b27dbf2668529decbe70eaa
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000109_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:855748d9b61dad522fd7484008a5683a866a0c0451978a287e99a9d22eb9a17b
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000110_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000110_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..11751a9d26d6dd1a815501b19cbc29b73390dc45
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000110_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c6a68b193896f818f6b2a5150480103dc19a9fa0757cf21d3b6236a9196b72
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000111_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000111_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8bc0e261f7ae898d768ca7db12cdac46d25dda74
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000111_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64d34574ae931d556bc0ed56dd08e413d397581f5d11b9699f7a5b4734b39db
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000112_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000112_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19a094f119975edb0b6f2500ae10cc3f05cd2eac
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000112_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1553b55e32186a8e0338a3887c8c1b95e6cd9eea544701e729b8193e857dfa
+size 1210
diff --git a/redirect_red2green/episode_0002/audios/audio_000113_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000113_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7571b1e1da95273289f363c060169313cdf5fb6
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000113_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c75baa0f5684fb5bbb0880c0237b7d18d82e10fc0af114b9b4ee589700ec49
+size 1254
diff --git a/redirect_red2green/episode_0002/audios/audio_000114_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000114_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41b7af12c98406336a9fa6319a1757855b9b02b1
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000114_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ff840e11a2180409c02c90e8d941eaaaa391e5f7d33de165875c7deb95bce8
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000115_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000115_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44f857ffb8e7da1f292c6c0775b237fb3ce05726
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000115_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b77ef7b1d7e04cb00fa74a1fbcf51c6e41908cbab2ed92ddf80ed15b3f8ffff
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000116_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000116_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..65dbed612506a7b38be2bd1eee74158a37e6e665
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000116_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c453402bf20fcfb065ee5cd9d2dbcaa15d5885b0bb566ea754a91800fa690732
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000117_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000117_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c9ba8e603519dce51c84202c417d1d294d132e8
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000117_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4566b915e5d06e553781aeb365e227b7c26a9c43d9f582d4c57acd69e0f116ae
+size 1490
diff --git a/redirect_red2green/episode_0002/audios/audio_000118_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000118_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f8c6d6db15fc20798df9eb869c682c02dcd9d13
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000118_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b0a36dd8c2cb078af36d2e400c87ee3ce69d08dbb0ea9093fe1876b7f826191
+size 1252
diff --git a/redirect_red2green/episode_0002/audios/audio_000119_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000119_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..96f63e983f7915ca64822cd1b56e967080bc5179
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000119_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975b33c488c3b4f935f473c20bf758a6c1e7c74db7a66f03fc127d2f31c9c452
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000120_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000120_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..669665288389081e2e3fdbed87425a12319d52de
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000120_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ba4bc3e995b70002bfccf434408ef209cea5057b3505767c4bf4630d28a018
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000121_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000121_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6622c16cff0e6c3a10ea621516814e31416c5c4f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000121_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22549383313f16c28cb3926e141b78f0e480693dcd1641168a83fa5741948a8
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000122_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000122_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7d0c741c690d4dea4127acb174a9d5c60bf2e69
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000122_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88f2432168eee00421da1269dc3a0d04083f511324534d81f8ac38b91fc0519
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000123_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000123_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4109dd525a6ba75053db4cc7827d7e329dd7a364
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000123_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b66bd85fa28fd0b2009e039df5ff64e5b3e03f7ea6c29629ee3fa51f96c20dcb
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000124_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000124_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f6e9e0176af1a62eb7ed8f73acd439522f732a3
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000124_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953e7b4e787c390ef402559821b717145cf830fbd7ab726dfc362aa887febf90
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000125_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000125_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a383cefe67ed3406c1b0004497865ace6191600
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000125_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c514cffcdf863cdaccdbf73ccb7b7f7b3f28b24958c16841c7f2db57c3aacf
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000126_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000126_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..203f63661b8771b4f8b011a9e37a6da9ce0197e2
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000126_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6fb453c6425a9971b15ee38620a61dab223b0cf18075b114d08fcaf5ce60888
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000127_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000127_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1504d3d8dda2c0823d8ba4196bee3b5524bee3c2
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000127_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bc4f5fc2a708aa792f15eaed163c70119c4d7675a3f23bb1daa80d7afa14f3
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000128_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000128_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0320f00a1cf3f4199ca00a9cdffdbd2f9bb1b225
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000128_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11236a723583603accc0e86f04451af9fb7e7c0fb9cbcea6287247ed2e324e9f
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000129_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000129_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..abb5bde40a34701c2b65fddb9abaef4b5619acfa
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000129_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4381d6c76b8057c6842f4d36d9ff4c5eb8970dceb89d53126c15bf456f69ba6b
+size 1246
diff --git a/redirect_red2green/episode_0002/audios/audio_000130_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000130_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b714d091a7dbe7bc4862355b24b703c14eadf379
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000130_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ed9dabe9b54841b8de98fd1fe601fb6f5ddfc9062f3109df149a226f93ee58
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000131_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000131_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20c018585f58f5bfbb85078f17a38023516aa837
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000131_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2eb39653eadc6efb27f1031ebf71b4466cad9d49a303cdb37d5ba2d605e24b1
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000132_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000132_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54b886d0195cb14a25b6097612f3cfc12c1d3c9f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000132_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e8c34731b5cecc7d80ee5d678c996f898d6b6ee593e6f47a0881ac1eb4588c
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000133_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000133_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be02261d073c0982b22588bdfff0ef4b7d535e4b
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000133_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd619d92228f0c3b5d418514860a76ec0fb02ef71fa7b7d6a8491519bd3288e
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000134_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000134_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f557fb28825454819374a41b5520c830b6f6d42
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000134_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47f38ae6609b5c1eb79601cbd0baf11cf78bcce1792e8c2d245a09de7d937ee
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000135_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000135_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6459daf0f91cb07096303b989f444bbab2320411
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000135_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3592ddde114544730a163429324a9c9fb2b3151d960b16d19f3bb8bf0a5598db
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000136_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000136_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3f7251e4f5d789ffa10b4c889d7a252c22e9307
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000136_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3671b7212843d98674fba3ec82b6031ffbd026cd7ea5747d39dd3feb4e386b4f
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000137_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000137_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..360ca054f308e08ad73bb9fc1929371ff13c7e53
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000137_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f48f9ffaa9b0572ee991e2b1c9e4e999ebb36d4654bef6ffa9879b908bc9c8
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000138_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000138_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..40300398220dd6aae768dc3ea76f6cdff0e29d2e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000138_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453483b29673f373f8412f604ec10525baa7f2ad7e718dfb63a1084c740bc79b
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000139_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000139_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8eeb6a6b6f400447a33a79d558c5e6133f418c0
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000139_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd008441fcfe288968e5a1434c8cc42c584ec9dc9efd2ab8ec2e7db3c748646
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000140_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000140_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8fcd35882f6f4345b427a18c96861a2acf06e138
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000140_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ab555170e43fe346079174f679b12bdcd7992fd6f839c43f0e1720f44a6bf7
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000141_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000141_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..997c59fcae0fcd05ad4dd9086578f46f5f90e087
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000141_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea41c9f94dbef9aaf475dcb2cf17e97a2c39a12896cd001b98c9208cfc6aa2b
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000142_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000142_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9edb0cd3b94583846dba08df735c20c1fa99eecd
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000142_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e9020af4ebd9f658aefe72f3dab5c2a4c54074e0c2dafd4b507e43462257f1b
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000143_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000143_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d804b73918e728f55b666ecf37126c7e834c8671
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000143_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ea52cb63648c668259691d7c40806e5ef035b78e3a9e33065efc5493d49dfc
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000144_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000144_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e16604f50e524aea3d8de74fa446b1287ce60a65
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000144_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c997cd74e0f882c7716e30c699f4e987c4a4081d88665242e3a978ca31be64
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000145_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000145_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..06a808dddc1756c3de6080abaaad174dceb7869a
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000145_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288c8784bc6a70bafd81393468d09c7e4c343af43219a36f9620493161a0ab60
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000146_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000146_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c4e16052bd61de47ce584f8ff46b1ed0ec76220f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000146_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3f38c018425b1fa65e7e249b54c0eafbeb649d23e5f0d090e93f1ef81cd309
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000147_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000147_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..96b31aac3fe6922be7b140e51d269086f9ce0e80
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000147_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4347ffb702b0c056192daee00abde4b84755d30549c2b13742a101bcdf02f232
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000148_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000148_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7157e8736f74093fa5b91da894cb0d2da36766ed
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000148_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adefccb7cfd675a41833ad9bc145ee9b6aa61167bc9b9445332006bfb0251815
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000149_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000149_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d29f10740ca4a282c3623df6b54235fd73fa6fc
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000149_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299b05e60f41b1d7f9f195e54a2c60d1e04f9a2e6ada377006672d804fb4fb6a
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000150_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000150_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..64367361847a54733aee41b7dbe624ab6a185d41
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000150_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c5664761ce9a8ce3a3fe2cecf9a0e3d61af5cd0d078d29c570590fd3ae2c58
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000151_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000151_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10832d9d74315d40587e8dd888abbfa967451516
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000151_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b80e20fd947edc6cb7ad347fd6c930fda272195167100f495c4505b17894f1f
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000152_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000152_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..04301daf37644663d16ac37cc195726aa1d3c322
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000152_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbf3719a45991f9129c59af37c10f741860589d91b010d8aef4ec458bd05d00
+size 1230
diff --git a/redirect_red2green/episode_0002/audios/audio_000153_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000153_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..57f3d7489d29df11a5e809ef9351b65f9ffdda0d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000153_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ee8d6de21fc718900d6625115285e0f3e7fc8a8c16f07a6b8d04faa176183a
+size 978
diff --git a/redirect_red2green/episode_0002/audios/audio_000154_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000154_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c66b378b5eaea831a50e258e0db270d827b3e810
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000154_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb48197b35c1b2e23d000ee034d16b6a26410841ddf19b3d9e00818e8b24340
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000155_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000155_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ac527a2afde3caa747222b76244bf3a78b41339
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000155_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dcac9a8794d0969ee5685203b19d72344d2c1c382fd2d3306e1eb2388af3437
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000156_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000156_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e1d48c5de0c1de6c9cb1f0d8ccf3b5755b7ccfff
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000156_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96eb3fb3d1bcb547645079386546e0fa1d64929f56670c38cdf6600f9f69bbe0
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000157_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000157_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b62ba5d5fc23b5563a8f3b357d7fa631e4575da
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000157_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb400bd9c38211b0e2d52fdd0bd734e3ce1e6c9e10f034723f8def88cbeff227
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000158_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000158_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d52605f7a3797415ab040fc717c42a7e887215d9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000158_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8671a3818504242751777b07c5abacfdd7f20f291b14575d906dfe0036b88f9
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000159_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000159_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8a6d49d83776ce5074a406c8f4caa06985bb3b8
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000159_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a3f8e2abffc0cf583755251a92b853e46090d85cad5e2155d0bf69d9cb2dff
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000160_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000160_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bea8b0203e1161a090ad413086ddb899f42ebcde
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000160_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58408ccc17e9fb950c2a3618b363ab1eb2d9d12cd72fd07715febe6cf59eae6b
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000161_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000161_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6eb9b619849a863fd7a68583aa9d81bc23e34536
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000161_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06747d14c5ddd7a3a8e258a4382af3f154f7c5e1032406a30e6474130061dc2
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000162_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000162_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d2b18abb8d0203ce5bb92546e8d2e5f5d1c1f20c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000162_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574807e2fb82c064b1483ce7e12399633cab41b1d8ea74772e8d040aefabc8f3
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000163_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000163_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..492d5417b393dcde3758b6a79428bb22600fdc1e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000163_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee8b5cf876c335b98d5bfdd4a576667979fcf3427a83e5ad718c88cdb56fb092
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000164_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000164_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c9fde70ff97983f0f133975b3024bf352f1022bf
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000164_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f351483770350a471736ffc78612b3d69483a6707e64ae723dedfb68a5a600f
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000165_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000165_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a271bf4d8fc287b6035269ef61df660f6fc312f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000165_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9cb5e0c7d2bd69d4883ca592b910720929d0e99e056bcf3140436175f6b883
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000166_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000166_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b82d47a090db3039e4f8974ac3e13b76abb70ba
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000166_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d143c476058208066a1e4c6d1c640542df080f6ad2727bc10cd16e96f8d63b1d
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000167_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000167_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bcfa4f6a11efde353f1d98be82ff4738df0a8589
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000167_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16da4e0230b455c823c31582a75daaf69cb317eef24235e3f90b8921a548400d
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000168_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000168_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76c5a9d8da861c93a8861a912f226f57524d5196
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000168_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f749239a1b69a5e6a6ca91c3b4bb6f756cd2a5f0fa1436122e83bd0eac89cc39
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000169_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000169_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf2086c7b64adac1857370834bf1d69843366d49
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000169_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d01fc4dc4ab836f1880dcc78a873206619ba5e3189c7791672f8e9da1ee8482c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000170_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000170_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ce6f4754322d83d5b7dd1ae82783ed704d369c1e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000170_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:548d7983107b38caf3983d26367e28d99cb96536fbd6b7569f0c3d9424a9db78
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000171_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000171_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e433214e29990c2703cdc4c7a59de54d8f6095de
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000171_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:125cc82570972ae71ddb1af25546c4997af9eb4d72bee6e51f932324761390bc
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000172_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000172_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..722fdee631c0f2eeafb37f3e98ea5beb6a0a557c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000172_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1505ce218bca9c32ed89b0bbbb8188388d499fd9021e8d62d46d5e76c1567c24
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000173_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000173_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf5bb87aea0c99afeeb20a7c4ad3c21688758746
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000173_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f1382da82bb5482808b51ba911273507bcf73df5acf4e4b34ce46d30e039cfc
+size 1258
diff --git a/redirect_red2green/episode_0002/audios/audio_000174_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000174_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..373cedc9cd09fba86249dfed612e096ca94a4540
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000174_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1016c0b02a787913e529bbf832d6568907364d9712187471064ff702eaa677f8
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000175_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000175_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae50ca2111aa24cf649ed37999bd910152c28b58
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000175_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bb6857b5d9a0e5e145b69f8b7e0e4f52affb5bcb05793cd2d14c9d0a36487ff
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000176_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000176_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e4c1ccb5aef6a374443382e92a4d57c12c2dc2f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000176_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:337d4ae580b2414dae5f05665486052babec38e96fb80d4ac529b0bbe0f954ff
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000177_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000177_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..29e981998df05109a8192de698d231ad9cf1a857
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000177_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb2d55b1a46f2b1cd5ed31d5c49c26a0b998a6ed9d35e659c2a5c02787ca0a6
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000178_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000178_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..65752368799a2418d14ac0837ead6eb16994cad6
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000178_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a058c216fe90d2aeab3a28bb3cdd3ae4bdf83a0244617dd96b39a2b5b9238b
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000179_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000179_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..21ed7ad1154d7fea183b13cacf99d9ebf04eca31
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000179_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7532ac34737e93ddc9c757f539e3399ec983dacd52aa6ddae333a7a6e8db6a23
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000180_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000180_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..49da97cd69340227076d7c05d1ad54984dfa877f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000180_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2265e2a631bb66c245c872d5f33681c7a9bc44ac83245d8c4d0b8231fcce9f75
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000181_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000181_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e87f0d682242c792616b6f0691a90628790cb331
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000181_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae4d79f2624268ec8bf76d3b97ec69d861566440a25a435dee4f81c4fbfeff1
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000182_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000182_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..438b73ce02a44a66174d8561ea590906b6170564
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000182_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94cd45ffe57a3ba27c7196eba4b3dc66646a7c34124f614f7ea115db0fd4bffd
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000183_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000183_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..da203ebfa13a9b9e8b814daadb9b554ba01a1b7e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000183_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5edb303f4846ad470383d9577d55664481793874ee7073b6d4bcc1a4a0ba4bfc
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000184_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000184_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7bb988d746f06e896dcc3c888a104ed53b937d2
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000184_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39d2e10a3344bd4d286a656436834fbbfa00c062b79fcba0401cbe4f7a427147
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000185_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000185_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a124c0e0920a7fecc274c73c109dfd945eb436e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000185_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05d9ea528f60a908cc4963e46bdee93dcc21357c52c32f071c19a99427fa16ca
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000186_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000186_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b8b6cb1d09896aa9ebe24bc094af1eae917cbf82
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000186_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6bbe85df80b261e8ff1f968becca78b5f0d929dc2ea71f012eaef365b9c5c12
+size 1488
diff --git a/redirect_red2green/episode_0002/audios/audio_000187_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000187_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb459a55780f392b8b2a87a5f67195f7d5a7769d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000187_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e75ba8237da670e3f31b0ab78f64a42bc8de74b19c6edc3704926e441f7e7f
+size 976
diff --git a/redirect_red2green/episode_0002/audios/audio_000188_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000188_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d462acf6f636a46bbd530bbb4241296614ba482
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000188_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad54f1180feb2819fdcd1022d78a7bcbb3dba2f0f07249db4cd1a217498f194
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000189_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000189_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..11717f0b378fc10b6eaf276ce320852606e741dd
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000189_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465f8441a283d958d7a4cfdd97c0c2f3652f31171bd5c32015b123eea8e0e041
+size 1246
diff --git a/redirect_red2green/episode_0002/audios/audio_000190_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000190_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dfd1b587a5c41b89e5d34b03a299432858204147
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000190_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6678e5d5b73e820a3414bb39ec9c83b060bdd28a7e3d0e5e38bc5aa28b5f3ee
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000191_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000191_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..acb94434c1d181f74e7036e9056941d33bbf335e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000191_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81bdc88344f564e76b7d06931a75ce7f88dc633b9b5e1d6a1135b0eb73b40a7f
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000192_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000192_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f53c13a9e8950017762c7da8bbca4b5ce6e8a902
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000192_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825b05ed07b696c17968ab290a699aa57381b45402461b8eebb777099b037b65
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000193_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000193_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e0160a10bb0cc5d38feb86ba59e64d4b23693be
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000193_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735616d5ed32cf447029fee8d72e1a079aa290ba771e003260409571fefe4bec
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000194_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000194_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af9ba46ba6029d1a357736c780397dacaebb9d0e
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000194_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1decc4b132ff1c2af9bde24c3e5b617be012abf8726dcbecfb5cb9640666c3
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000195_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000195_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3bf9d73cb52c3d8562b7b1f6d800458656da56d6
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000195_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089da41d49dc4db632dbfe23449aa428cf7477016ad57f4cb00daa4d4351f5db
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000196_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000196_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed7b5fa8fff844aac8b6c7227f2c353a48f46061
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000196_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cde203f1af206b3bb52ad3328aba00aa03dbfddec7d56f36889557c56a15659
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000197_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000197_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..87be8bf8db8681fdaa06f9356e579977a468bb68
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000197_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5944d70585eba72640df3b2a99e80988cfb6de1b733213987891b559d35f5d64
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000198_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000198_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ddb68f2880b99be99f56d4b753e1e368c80acd9b
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000198_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8434aedf47576d6ab53ab748d6bb70dce92a4e69213dff3d4e02b59750d0ec21
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000199_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000199_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..23fb2d4f25d5b0610acef1d8db562cb08887c826
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000199_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebef84d1f616bbd712633f1ffdd172d3314eb72279a2b64a7a340890c15ba80c
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000200_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000200_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79e8d668a95115fe7d0d225975899e71adc30a1c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000200_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e036ee70b0648a494e6d588c7ac9255d070e9220a4e4370820dea0a4c79876
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000201_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000201_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7ee2b02a41ca432bc6a3bdf3b43da5fd3b3aaeec
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000201_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b392c7f4c06fda96b65607a540730bb4e068fe73740d31c2cb6ac3e03cd22fa8
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000202_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000202_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5cf8091107de216102e831aa3822dd5723316fa9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000202_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842e41eb32f96250f84da891b92fb7eb759a96cb4543cdc73d67cbd4c89d6c9d
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000203_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000203_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63480e9dba7aaf75cf7b449c053ae85b2aa756c9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000203_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:190521df4f5fcc7ced58ef9c358a5d6edf34d97f540e218a55168db62593e77b
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000204_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000204_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f3369a9f61046d1cb64cb074fd489826968b064
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000204_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a221bf5933a183e6610ddf65677320e3b0be1564ff71e662ac9c077b5a41b13c
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000205_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000205_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4476cbfc6d4d2541b7b429cf6909720b945c176a
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000205_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ab758fae60ca667a4dd40c380f3c534772d25a5ba7faf88d9757c51f19b51b
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000206_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000206_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d3e5bb57a2dbc67f1db1067ff62afa0a9a0757c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000206_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f50f7a1dc169905c67935e6e02343a9c7baf5d1e59bc24c69a4c566d01e897d
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000207_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000207_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2a0e4f7fd166b1d5e40cda9afc22de2829764b9d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000207_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5bb1402bafc6aa889404ea4a7ea25b4ea9d54d69d865df450036d36e36081ec
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000208_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000208_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b2ad058b8902c328b516b023d451dcc4bc066877
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000208_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c59ebe1866ff3f94b06ff1ebccf74e6e5e46fdcd8d8299b37a2962be2103813
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000209_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000209_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc14ba92da0f83d9d715d51ca3fa95c9a84fda8d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000209_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e1eab5a5752c774a135235513e6ad51c4fe3b0e14c1caab27fa9fc4292a7ce
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000210_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000210_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..332d905fd591ca3e23b047545cf3cdce97ea86cf
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000210_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fbff1e972c972d70be6b11fbc9ceeebf757f7ef154911253a8b61c094a60cb1
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000211_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000211_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..128a0017242c16bb04fe4ab9a5f52087e17039e9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000211_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2bc2b30ad35919999fa7358de9e0e8b39fba54fd50ee0e8e32b9a2aaf0d50da
+size 1226
diff --git a/redirect_red2green/episode_0002/audios/audio_000212_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000212_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..91490b643676adb773de5f0e42413888c56fba7d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000212_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1f22c267c924f9882996fc7d0b2921cbb08f8a12ad2a8480d6c78cdfc9bdf1
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000213_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000213_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1119da1bd4c9a2a87f77159136f6a504511043f9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000213_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f9263560fd75af4958fcef468b473440ca669f65f6b1028215149409ef9091
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000214_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000214_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fa51054f61d28574f88be30b3f73d97a49bfdfcb
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000214_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f322e5b59b04e3f5ba90126889cfd44455b599a60eb9ed8ae93f7466790327
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000215_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000215_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..090704124bf87aea9c7d2a4c680ff48ddf1de194
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000215_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bdcd24334fa2a25cf26315aac9a2c70186147445926190f1f131c2622c639b8
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000216_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000216_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e4a0998140563937ac057dc740d57074a59cd13
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000216_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa379e9d02eeed04c5970eb3c0dd5858b006c647bda1422ab0ceba5daca11ec
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000217_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000217_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b5e4da9a30fe0cfde92d062c3835815f3b29f485
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000217_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f60ef36d44b2a56d0178c3007ffd4133b77ecbe7513fa6abe5d1dd21bab66a4
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000218_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000218_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..06b2e251b0e2cdd97ae7d80405be9498a7c44da7
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000218_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5cb32b6aff8ed2627eeed7e391436e2bb85ac61168a55e822eeab6f00317e2
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000219_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000219_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..166eb778d97b8ffcf201abe104b068dfefcdbbf0
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000219_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c94407a6897a3576c3f465ce7de3870cd8edc5c2344f3d80f58d5148ecfcce
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000220_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000220_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8f5fc9464be6e56b046b805c1ffb0b101c8f9a6
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000220_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4a3569ccf516f197678c70a851df9c1d6e34b0fcf457873269231ad6d4be75c
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000221_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000221_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1098cea371a285084b9c5b5c28bf671ec3fe8a1f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000221_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dee6d6f8dc31c4f838fb2700fdc5cb3e22afa4bec263d0dd204371b7e475d50
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000222_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000222_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1bcc1a75f826c28138f2450971253ef82afd65d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000222_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11703be9827668c43049e0b3f293c140b970a72bfd4815660b22d28c2bef32ef
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000223_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000223_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50b0c709005f7a5f354959e22f39543f55cdbe0d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000223_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f372bd5a7e969b9bac6cbc58dd99d58c5360d37fa5158b2fb730c98cd5bd4a52
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000224_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000224_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60a2c41ff819566896a5527248a8f4f4f750b0f0
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000224_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d978f4663c59f6d250baf136e499343cb0cc62c561b7c124156133806fe857a
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000225_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000225_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7742b15ae547e54899c186e910f887642ad2de6b
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000225_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70ee1f283840457d9bd77883c9f57777239f5050c2eedb9ca7919e6b92175c0
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000226_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000226_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..975f86d0974a6a41b1e622533d79b78808a5005d
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000226_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7629674dc5d814a35b151e3477e2d038db6ac0aeaa2bd86fd98f6b4c85b96d9c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000227_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000227_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..286404131a92ecba8fb150bac77a6be257d62a86
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000227_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ace0f583493941c1a7deba567749abcc70372f0239eb6e3a88c4d9078d1fcd
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000228_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000228_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1ca0d2b52c49e08ccaa604dbe4674814a69d6f39
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000228_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d026bdbd8b3d2c75536447b657e9189f5c801fd4c619a346cb68cdf9d011e5f
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000229_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000229_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..78ce8e8638cb8fb912276a80ba699f6ca2953952
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000229_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b5dc01770c1b0ebab23ced7212904a4a489c90f29886f975ed4ea9deca51ee7
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000230_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000230_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb8ee19e74f16d660f8ab4f8810fb33a5027e2ac
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000230_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bc4a5dd8155f209f7b2626c6bf47c29e31350fef5517d6aa828d0b3ff2e34a
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000231_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000231_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..37d78d5ff4b1f17db32ca1af5cea380d179b3cb8
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000231_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd1b04dfbc56306816532f3b77e55561713776727317e819c7841ac1ddaac73
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000232_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000232_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7988427a47af64d82acf64c54019579961f32797
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000232_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66cd8b252eb07aa13fc099ef57b23c1124f1229996fc74cf85534b64b398b25
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000233_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000233_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b516772df15c43d5ff607d802ce541756b7b3756
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000233_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9bd38ed4d54c01052f8fd5d51ad2313dd44e003e10526a013dd17d0f4e0c5d9
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000234_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000234_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5da35412f0a2aa78cb549b99605ee9f4acd1b866
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000234_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:033ea58618ae4d374807d66c44640928b8c4ba953d042edcb21ffe77ed40921c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000235_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000235_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41130ec6e665cc0c4b79e9862285d1ce7bec7910
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000235_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2304cc668945038d9cddd5b81e8496ea5a1c6fdfacd1c059219604f0252192ca
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000236_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000236_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b226dd209aa9ea37228abd2fe16e5edeaa78764
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000236_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a528017e2bc79fb4f208272e460b11c61dbba28e12c440e30cedef0ee6d5fc2
+size 1226
diff --git a/redirect_red2green/episode_0002/audios/audio_000237_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000237_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..791aa9315cf7e47e9a89e90525af06ddd77a1a04
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000237_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19155c74ca2a7b5ea6a00e4a15640bf76cb82475566cc448d24878b5aa36c26
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000238_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000238_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12a9b1843bab9acd248257a9f9cf4610fe1a724b
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000238_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d15c6fedca3e4e3e862eb9a0dfa8cd379d08a88b85865aeaad17f3d90869ab
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000239_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000239_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..474d271484e91a56d690cca82b3f07677f3a1ff3
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000239_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939d403ac78576df352655c361b83b3ffa3f4a18538e31743c1c0fe12397afde
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000240_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000240_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7b18bfe3fc6a6d954fc9c18d0541fa494fdb182
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000240_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15cfc6eb4dd6cfe6e47014ad39fc6a5263250f8b75b64353ce01edd58758a5d7
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000241_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000241_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8246bb8f677f2848e263b68d7ec0bab6510c6833
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000241_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a3084eabf41d9723359268b70795b6559cde3abc399f1c92cb8c2e33b42ba6
+size 1238
diff --git a/redirect_red2green/episode_0002/audios/audio_000242_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000242_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20def24da295f77557b47b7aeeea096824dd31b3
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000242_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524c7641a80dd7153787eb413dcb8e6f0b47fd5f0474f8d81eca3bedd9273eb8
+size 970
diff --git a/redirect_red2green/episode_0002/audios/audio_000243_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000243_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..878719049a2086a12abb3c97340515b67e4650ad
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000243_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b6616fd69c62e37926b009d295e279773fb4bbcb1549522361606f6ac2a6563
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000244_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000244_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bd5c4a6a7837c7a0a0aade88a4509e377622dd78
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000244_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145ee49d8d82573df368e84cbe3ffd420384d8e3518c1b7db180bc21db922800
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000245_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000245_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e5f28068ec0a83a18d6f7c58b9253b2595597ab8
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000245_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ff86d136aae5f543e220ba3eb7e69cba4ad60b55b2ee6fe4310ba5090dcfcaa
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000246_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000246_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c9c0f545eb6ee618ffc603354e18bf08e4ba4a0
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000246_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d5272f7314417a2e53667ff2f92407c266804a902fd98733770dc164da0359
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000247_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000247_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea617dcee4beb2b4fee49b8c9e255190269d7bac
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000247_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60f4d44583ca7cddea446df2a586bc0812b21405623491141ebb8239a8136f4
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000248_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000248_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2a63b0f16dbab6961940415b283ab642579eb52
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000248_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbf1438d71e7bed7c4652f90bd21a29834c178706a44711c0c454068c3d0ffa
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000249_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000249_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..511d99fa52bb594e0f753e248c7734347b754309
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000249_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dab88c062f84e9bd1e2e254633a28c363e4c295a2c5c61c057923edb8ad1c693
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000250_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000250_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..294bffba953c8929b4cb465ced25120f6b1a9b85
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000250_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e7a024c578d903a7772aef7ecb091219a771293faaa9280f65f9b00ad13337d
+size 1246
diff --git a/redirect_red2green/episode_0002/audios/audio_000251_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000251_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f01cfbe103499a7a22ed53c0aefe8dd56c497c9
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000251_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4b77840acf8accbd4e1406f961a1c01aa73852f81831c54a9e724936928472
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000252_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000252_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..55944e6c12f08d30ba1b222575ece6a8ef642c0c
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000252_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:972e54164fd136050164350911da04321b5ac2e21d9b17986eada763f629d40c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000253_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000253_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b8e89a516102bd6bac3433cc37c277cd089b16f
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000253_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1760d14b4997e574f36fe5ab1f09d2ba27b2f0fa3d1023a2ff6211077d224dcf
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000254_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000254_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..603f7f7674220a624ffc20fa93c9098e1e051c0b
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000254_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb13ec00522f586a750670d3bb009b543342dc3d12cd4f9042933bfcae46034c
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000255_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000255_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e71c9aafa765d0d7ece39c6813223be0e85a4d14
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000255_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c6f229e3b72a1eddfae79e3803bcf8416ae3b9d606c45e5d7a875ebaf205e4
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000256_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000256_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dd0cf68fe30329986c7e20c76cb939dcbd78e963
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000256_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9011f38f26b1d5a7ba3e335cf5c5be52b8877aeaaa01e2d7bb40f5a8dc37b13
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000257_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000257_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f80a0214e621a08167973ecda081c04f56a54fa
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000257_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ff8b21c688cb35f32bfe4cf2887398f09461865fe01d21e4f1fad444c211e1
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000258_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000258_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..551cfd6785e43bf6872ac0e377a0abc5bc5199f3
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000258_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e7092b3d6c2b6edf4d9f99720a304cf86f8a27c5598fb17833ea7cf3c780c2
+size 1248
diff --git a/redirect_red2green/episode_0002/audios/audio_000259_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000259_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae4e5cc717baf57990e60bea0559321ee6b0ca89
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000259_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18989e23cb8b2d80c94f073c5d69a7c4727968551265d065319e51955f0110ed
+size 960
diff --git a/redirect_red2green/episode_0002/audios/audio_000260_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000260_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2fc72fc4728a5eefaf2b3a7125ffac7234227d0a
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000260_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286253acce1b041fa33511a168c2f36c2950715c91d8ff16cf03f0ca0e176a11
+size 1504
diff --git a/redirect_red2green/episode_0002/audios/audio_000261_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000261_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7cfb3c5204498e1f800cf6c6d9beaab0b7965627
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000261_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1950daf846e8aff7c9414a3875c755db269b6722a44425092051967f4df30958
+size 1226
diff --git a/redirect_red2green/episode_0002/audios/audio_000262_mic0.npy b/redirect_red2green/episode_0002/audios/audio_000262_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58ecf5cd252577af4ba8c235048029a3da4cc1c5
--- /dev/null
+++ b/redirect_red2green/episode_0002/audios/audio_000262_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9aeb12e8bd95a58bbc9145ced7d78916f4fbd7e2f9aab34bd6bea2a00832ca
+size 1270
diff --git a/redirect_red2green/episode_0002/colors/000000_color_0.jpg b/redirect_red2green/episode_0002/colors/000000_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2ab89f4d61c5fcdf0a1b7253b8a43e0f5c0929ef
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000000_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b3b79d969b31bc05c690aa371a775e5c62c02f828a4efab59a8cd05eeae1c3
+size 210473
diff --git a/redirect_red2green/episode_0002/colors/000000_color_2.jpg b/redirect_red2green/episode_0002/colors/000000_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..594175308fc6dbde3bd4c6c920591b6330f6cb9b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000000_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69aa49c9c75587c6876b04285e344884fd50b37b314551b707fd32f0362f9ccc
+size 100952
diff --git a/redirect_red2green/episode_0002/colors/000001_color_0.jpg b/redirect_red2green/episode_0002/colors/000001_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..75a144888f13759f79d24df2fd0af6c428ef8ed2
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000001_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3616976b6971c170cd98ba1d156a57d8938dcd6793466ac2e8136e40a5fb80d0
+size 210836
diff --git a/redirect_red2green/episode_0002/colors/000001_color_2.jpg b/redirect_red2green/episode_0002/colors/000001_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b76f750563803363c5e0ab4cdb25d27a8663ba58
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000001_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb71d0121aac4843b2b7feb849bb361387e5988b52fc82856083d32bd704a0e
+size 100665
diff --git a/redirect_red2green/episode_0002/colors/000002_color_0.jpg b/redirect_red2green/episode_0002/colors/000002_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3561ccd5a969592047eb0d72e2ab2f7b88d6bff9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000002_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7745540c5a7971204b7cb955a96ae2b85bafcc62f9f4e5619c5f0eccf9fafa3c
+size 209034
diff --git a/redirect_red2green/episode_0002/colors/000002_color_2.jpg b/redirect_red2green/episode_0002/colors/000002_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c6a086731910c0e97cf0acfc075f527165956c51
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000002_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da9a3c65af0d5a6885e3f8b18d40c89f6f74caf4bf2934d40643bfc06a28111
+size 101319
diff --git a/redirect_red2green/episode_0002/colors/000003_color_0.jpg b/redirect_red2green/episode_0002/colors/000003_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..55ad1c5b387c6802f94479f7bfcaa5eb3a8b07a6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000003_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b8ec0a2190f9b446d3cd1b6d63cfe8f4c521c2eb680f0470d29376c32cf7c4
+size 207947
diff --git a/redirect_red2green/episode_0002/colors/000003_color_2.jpg b/redirect_red2green/episode_0002/colors/000003_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..74eec0eac75179d2510817b6be967b05fb881e1e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000003_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58ddf2eb325e062b97891d29254007ec1fb9119c280257b3a6f038101738c12
+size 101187
diff --git a/redirect_red2green/episode_0002/colors/000004_color_0.jpg b/redirect_red2green/episode_0002/colors/000004_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8be172a7611905e2c6a73e71aea9f1cf0efaed22
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000004_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8635604d75a78773df98b3970d83e2e847066ba82644704a6a0f56566128c369
+size 206761
diff --git a/redirect_red2green/episode_0002/colors/000004_color_2.jpg b/redirect_red2green/episode_0002/colors/000004_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7c500b556a7230a0c2739e9adf19572f10180bc6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000004_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e773198be6f77bfcd759fc8758627f614d6e7ce804ebe05f348e2fceb1e387f3
+size 101601
diff --git a/redirect_red2green/episode_0002/colors/000005_color_0.jpg b/redirect_red2green/episode_0002/colors/000005_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..862a24442c1d6cc2d8212d208dd5f465f810de17
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000005_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa913aa8b1503a1003a808924465a33503da902df9ed228527a7764b2dbe027
+size 206581
diff --git a/redirect_red2green/episode_0002/colors/000005_color_2.jpg b/redirect_red2green/episode_0002/colors/000005_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..09f203acd8e63a03a2677e092c8659427efa7c2c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000005_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff3aa1a88a1a2a049eb73f9df52ebafe5fd5434464cd7623b7777e7330bef34c
+size 102115
diff --git a/redirect_red2green/episode_0002/colors/000006_color_0.jpg b/redirect_red2green/episode_0002/colors/000006_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..81a96fbdb7cd2ac302c00472b311b2a87923b1a3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000006_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a26f5f620271b9b57a538050ac7effea99c733e9493e191b2347a4317629e6
+size 205707
diff --git a/redirect_red2green/episode_0002/colors/000006_color_2.jpg b/redirect_red2green/episode_0002/colors/000006_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dbbda4b75094e184de2dc1d92d415131b8774fea
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000006_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ec6a955c7607dc30c77a3ee0062154b517558b01fddc2f2acafde784136a9c3
+size 100998
diff --git a/redirect_red2green/episode_0002/colors/000007_color_0.jpg b/redirect_red2green/episode_0002/colors/000007_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c51f6070acb3dc919cc313a7d1d1b3c667fd5d04
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000007_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ec2a46564de37752a9dfb584c0aa4cde40c521ce9e557e7da83fb71935260f
+size 204467
diff --git a/redirect_red2green/episode_0002/colors/000007_color_2.jpg b/redirect_red2green/episode_0002/colors/000007_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..16c60b03233f0e03e9d1e954d0ad58aafeea31b7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000007_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:223933ca35cffc147163730584627c55f43e9549dedd4d73f96f6b51371af950
+size 102213
diff --git a/redirect_red2green/episode_0002/colors/000008_color_0.jpg b/redirect_red2green/episode_0002/colors/000008_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bb4e5c253609601a0a4ee029902627041b9f942b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000008_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfc6d57517d30c429646d176392a6bf3a77dfb60b922e48f11beb5599db4189
+size 201061
diff --git a/redirect_red2green/episode_0002/colors/000008_color_2.jpg b/redirect_red2green/episode_0002/colors/000008_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..77c933569075e8121db5fca0923f4bc0eda29c0d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000008_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f333d3266d4547674e60ccec0df8da7888f5975298d3a26a7233900c9904fac0
+size 103934
diff --git a/redirect_red2green/episode_0002/colors/000009_color_0.jpg b/redirect_red2green/episode_0002/colors/000009_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bb4e5c253609601a0a4ee029902627041b9f942b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000009_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfc6d57517d30c429646d176392a6bf3a77dfb60b922e48f11beb5599db4189
+size 201061
diff --git a/redirect_red2green/episode_0002/colors/000009_color_2.jpg b/redirect_red2green/episode_0002/colors/000009_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4c7cd7551671d3deb271b137aeb65b67e518df80
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000009_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82996a7a12589699d6f9ebb695310d150d3a697dbede3deec3e54778355b1ee8
+size 103025
diff --git a/redirect_red2green/episode_0002/colors/000010_color_0.jpg b/redirect_red2green/episode_0002/colors/000010_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4c6d8911f672bc37ba8956b53978ca3e0b17ff47
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000010_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646097d2287c1d0e57670a72971513e24d0de69253447021a5c4f4ad9e3868bf
+size 201829
diff --git a/redirect_red2green/episode_0002/colors/000010_color_2.jpg b/redirect_red2green/episode_0002/colors/000010_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..72e2219dd244f0973f6b78d65c4b0b07b3c89264
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000010_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c7bca9fb5945de85eda91c5a8842d5f1c7b77a930e1d61cbf031c54e6fe57c
+size 103136
diff --git a/redirect_red2green/episode_0002/colors/000011_color_0.jpg b/redirect_red2green/episode_0002/colors/000011_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a4d9bafc9f3a2140b3e6ab886a2350395b78a28a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000011_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa4ec964a00eba3f9e4f5f9610b3be79abcd4b58426be8c08c881d1286bba190
+size 207371
diff --git a/redirect_red2green/episode_0002/colors/000011_color_2.jpg b/redirect_red2green/episode_0002/colors/000011_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2848ca3a61101f63dd76b5acd320250d2a09aa31
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000011_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2932ae59cc1cb03dadaefd7998bfc67d0652d4c81eb7cc613ab2a8356398a151
+size 101016
diff --git a/redirect_red2green/episode_0002/colors/000012_color_0.jpg b/redirect_red2green/episode_0002/colors/000012_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b451fafab674ade55c4074138477588dd02af71d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000012_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceaf6ac4efea0182b7e54a29528c5725a95f4f5fcfd0714ab15a3ae53e5bae93
+size 207757
diff --git a/redirect_red2green/episode_0002/colors/000012_color_2.jpg b/redirect_red2green/episode_0002/colors/000012_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dbf4cfb63e425365e7e0687554cd9ae986f94b59
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000012_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a67b8883464daa4f4cc4b7b7a5f6467f5cd5554d419021ffc26ad1b403d818c
+size 100606
diff --git a/redirect_red2green/episode_0002/colors/000013_color_0.jpg b/redirect_red2green/episode_0002/colors/000013_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2f244ab42bbc49fdefd4e7fc195b284102e8b3ce
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000013_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b734c2add76149c9af698f3f28e035578957d4adaaefe033873971eeffd5116
+size 204848
diff --git a/redirect_red2green/episode_0002/colors/000013_color_2.jpg b/redirect_red2green/episode_0002/colors/000013_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aa7a2b3c0875de3654b8e1d72390d51a6e1f4a5d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000013_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e487e59fe23ea0cb970a48f73aabed5fd5cbf6aa103e53e5bc3295e0a59e143e
+size 99906
diff --git a/redirect_red2green/episode_0002/colors/000014_color_0.jpg b/redirect_red2green/episode_0002/colors/000014_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..05fff00c5d20e23f71b9581442cc106d39ae6398
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000014_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4d40f8ff1accf508add3ba75929cb2f032fa4a9f17b13ba9eda30af64915a1
+size 199830
diff --git a/redirect_red2green/episode_0002/colors/000014_color_2.jpg b/redirect_red2green/episode_0002/colors/000014_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ab030615207151fa44f92440f8613a95e3bd8851
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000014_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef1f65a2ebd19b9da3cc628a2684b5ab062d079c539bbad63a8bfdb1c8b4d11
+size 99690
diff --git a/redirect_red2green/episode_0002/colors/000015_color_0.jpg b/redirect_red2green/episode_0002/colors/000015_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..05fff00c5d20e23f71b9581442cc106d39ae6398
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000015_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4d40f8ff1accf508add3ba75929cb2f032fa4a9f17b13ba9eda30af64915a1
+size 199830
diff --git a/redirect_red2green/episode_0002/colors/000015_color_2.jpg b/redirect_red2green/episode_0002/colors/000015_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4c745c823576115a297c51d1c903dca28911130c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000015_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acae4c4890b199c2d36f41e75c4fd03a01b8b4443c60e607abbaa39805c89ea
+size 99823
diff --git a/redirect_red2green/episode_0002/colors/000016_color_0.jpg b/redirect_red2green/episode_0002/colors/000016_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dfc252af31a531e5abeeb625cd9ba5713fed48f4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000016_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03cd5590008d8a5996d425896daff587457eabd4b292e58c6126b82d34531f1e
+size 192863
diff --git a/redirect_red2green/episode_0002/colors/000016_color_2.jpg b/redirect_red2green/episode_0002/colors/000016_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fe24adbd6ec7f506d8e7a569e71ebd780b5f9b1e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000016_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6472a421200188d20a6e9fb527231b222e7f5adcaa12bc55be61a122959666d
+size 101609
diff --git a/redirect_red2green/episode_0002/colors/000017_color_0.jpg b/redirect_red2green/episode_0002/colors/000017_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a03f448a6a64fdaef2f754db49ec6918cd4460ff
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000017_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cb8c26205651b8dee68e9dd946adb09a8c13a3e763d1ef05e0b145a49b4b4f9
+size 189145
diff --git a/redirect_red2green/episode_0002/colors/000017_color_2.jpg b/redirect_red2green/episode_0002/colors/000017_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c0b7b215204c1b1597f9f49ab09919170c783be3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000017_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf80871cf2e7bec27171b8cfa4e06adc21306d02886bfc9478657940fc8ce7f
+size 101941
diff --git a/redirect_red2green/episode_0002/colors/000018_color_0.jpg b/redirect_red2green/episode_0002/colors/000018_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0029d5ff4ee47827df1111bc693c16d6166c0aa9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000018_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a4cd8a26512d6c761724f461a7ca2532926a2efe8007846b3907a5d7ac94e5
+size 187542
diff --git a/redirect_red2green/episode_0002/colors/000018_color_2.jpg b/redirect_red2green/episode_0002/colors/000018_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9600938a6ea6dc6dfa5d93f0b1e4a886a5c45be
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000018_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc43627482c13ea8c5e4cc5647d47c01f0a8e94c1eb34560867e81255f97787
+size 102288
diff --git a/redirect_red2green/episode_0002/colors/000019_color_0.jpg b/redirect_red2green/episode_0002/colors/000019_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0c9b6c48325fdd162fab6208867e54cf94953c2a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000019_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116c5f8418fb615c37cb8c08e0533d8447e41332bdd127b79911d6cde802fa8f
+size 188478
diff --git a/redirect_red2green/episode_0002/colors/000019_color_2.jpg b/redirect_red2green/episode_0002/colors/000019_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6b9fd9612885c96311afffc6e5b1caf50741e5c8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000019_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4437b3a0e370a181db5541c066a53c82943c8c42d9166bfa814e7bbe29f8dbf9
+size 102818
diff --git a/redirect_red2green/episode_0002/colors/000020_color_0.jpg b/redirect_red2green/episode_0002/colors/000020_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0c9b6c48325fdd162fab6208867e54cf94953c2a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000020_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116c5f8418fb615c37cb8c08e0533d8447e41332bdd127b79911d6cde802fa8f
+size 188478
diff --git a/redirect_red2green/episode_0002/colors/000020_color_2.jpg b/redirect_red2green/episode_0002/colors/000020_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..14bc7e83dde881bb00e3736eeb90d089cf7d6462
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000020_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a1394397898a356e099425be4017abf9d26571c0d0c57df16a2b8c77a0926d
+size 103016
diff --git a/redirect_red2green/episode_0002/colors/000021_color_0.jpg b/redirect_red2green/episode_0002/colors/000021_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..24b2bd5dcd2a99e11ef19a1c462fe4eb33e33423
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000021_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379ef01f5e88f253e7dbfead56c92959072bf568c0a3befeed5acea2ac418b33
+size 188844
diff --git a/redirect_red2green/episode_0002/colors/000021_color_2.jpg b/redirect_red2green/episode_0002/colors/000021_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..99f93a458d5988c91f1657fd762bb8a4194da650
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000021_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85103621c0e0cda16428cd81d062c85cc11547b9bf3216d6a9d7c5a41880d337
+size 103236
diff --git a/redirect_red2green/episode_0002/colors/000022_color_0.jpg b/redirect_red2green/episode_0002/colors/000022_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..24b2bd5dcd2a99e11ef19a1c462fe4eb33e33423
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000022_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379ef01f5e88f253e7dbfead56c92959072bf568c0a3befeed5acea2ac418b33
+size 188844
diff --git a/redirect_red2green/episode_0002/colors/000022_color_2.jpg b/redirect_red2green/episode_0002/colors/000022_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b0e2e9b1b7da990fe7b5463f19b2b79b9f5ec8bf
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000022_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b099ab08ebca596ecb0d3a10f32696e6e1935cce474e88207009e148cb3f14ca
+size 104779
diff --git a/redirect_red2green/episode_0002/colors/000023_color_0.jpg b/redirect_red2green/episode_0002/colors/000023_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7413b9a09cdafd88106f8390335f9dda65039d6f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000023_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e763d755c248109e74d15e1cb4f27e316f09f694e9779f401856bea743daeb6
+size 189759
diff --git a/redirect_red2green/episode_0002/colors/000023_color_2.jpg b/redirect_red2green/episode_0002/colors/000023_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d22f12e121b16806d214ce5c14953f6a42591bac
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000023_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00a7e3d5fac74336f64f7fc9924f204a6fd7e3ab4a985d9475a8c5f78a6c64b
+size 104412
diff --git a/redirect_red2green/episode_0002/colors/000024_color_0.jpg b/redirect_red2green/episode_0002/colors/000024_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..390ebdd0618a99a7133c4df7bdd1d3d6822d9d23
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000024_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e559db172786ea65e58e9b4c8396dfc5865eaa8bfdaea68af7d0078839f8c0de
+size 189719
diff --git a/redirect_red2green/episode_0002/colors/000024_color_2.jpg b/redirect_red2green/episode_0002/colors/000024_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..07f2e237d8dceef8fee8bf4c37e6141e328b3895
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000024_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8460e34434e40d7ce7150aaf746416093bc93709481da1e04d9556dcdd431e84
+size 104036
diff --git a/redirect_red2green/episode_0002/colors/000025_color_0.jpg b/redirect_red2green/episode_0002/colors/000025_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..79b1eadfc6e79c13e42cb59e1e5f62056ee63a29
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000025_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eed199b5291dec99f02c5b1508e637618e85679e9ca55bdf067fa959aa736eb
+size 191512
diff --git a/redirect_red2green/episode_0002/colors/000025_color_2.jpg b/redirect_red2green/episode_0002/colors/000025_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..db177fe24c579d51d0214278165820559120a62a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000025_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76013e1d7df77d06df7c75118f18cbafd9f18f3d97b22ba8c8527f842c9d96f6
+size 104340
diff --git a/redirect_red2green/episode_0002/colors/000026_color_0.jpg b/redirect_red2green/episode_0002/colors/000026_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec6341dd26efcdf2e21039a54dd7b3560a2188fd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000026_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d2d3d30dd399701fbc0580c6373a59bf464e5de3e7273e1205db368f5d9cc2
+size 192597
diff --git a/redirect_red2green/episode_0002/colors/000026_color_2.jpg b/redirect_red2green/episode_0002/colors/000026_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f7e2358270d69a93cbe917aab8ea3ff7ca87b3a2
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000026_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbec76963772cc0731a30fb17667e579cf2f0a3645e6f5ba6b8de4399bbb5e1b
+size 105922
diff --git a/redirect_red2green/episode_0002/colors/000027_color_0.jpg b/redirect_red2green/episode_0002/colors/000027_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec6341dd26efcdf2e21039a54dd7b3560a2188fd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000027_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d2d3d30dd399701fbc0580c6373a59bf464e5de3e7273e1205db368f5d9cc2
+size 192597
diff --git a/redirect_red2green/episode_0002/colors/000027_color_2.jpg b/redirect_red2green/episode_0002/colors/000027_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5beca4a2caa39304c496a2a2b5b79e778ef05bf8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000027_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:523854b9cefb538f0f1b5651bd1535cb5fc743330293946b856e0eb7b881b9a5
+size 108250
diff --git a/redirect_red2green/episode_0002/colors/000028_color_0.jpg b/redirect_red2green/episode_0002/colors/000028_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b87bf9c12397d69fd574f9e16acdd355b9aecd9a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000028_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aca18cf916e60a9345a28a12449ce1e41bdb7f38bab65892146442df67745ee
+size 189888
diff --git a/redirect_red2green/episode_0002/colors/000028_color_2.jpg b/redirect_red2green/episode_0002/colors/000028_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6123332762ab44ac093ed9800598f96f85a0e329
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000028_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c69701e29778615676ddcb168c86de68ba39eed6e827bb9b808a30da063161
+size 106568
diff --git a/redirect_red2green/episode_0002/colors/000029_color_0.jpg b/redirect_red2green/episode_0002/colors/000029_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b87bf9c12397d69fd574f9e16acdd355b9aecd9a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000029_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aca18cf916e60a9345a28a12449ce1e41bdb7f38bab65892146442df67745ee
+size 189888
diff --git a/redirect_red2green/episode_0002/colors/000029_color_2.jpg b/redirect_red2green/episode_0002/colors/000029_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..57c946856368ab038ba85a9510cea29ba7fb090f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000029_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4dc331ef24c9826d8362c22b40d69d9f77d1f91a959dc7a3d74507d1b81f0a1
+size 106083
diff --git a/redirect_red2green/episode_0002/colors/000030_color_0.jpg b/redirect_red2green/episode_0002/colors/000030_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..13da72375ff5d89303b347f23dcfb381d40eb91f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000030_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa06ced195d690b39e94d3d0c8bb813a0b1b5f7e972f2eb5508968158c8fbca7
+size 193971
diff --git a/redirect_red2green/episode_0002/colors/000030_color_2.jpg b/redirect_red2green/episode_0002/colors/000030_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dcb4c5641a96f79c7637091051c889841642217b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000030_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8452195fc34892180d1e3819b65ba1c981740590b66825c278f3ff3a0f443590
+size 105943
diff --git a/redirect_red2green/episode_0002/colors/000031_color_0.jpg b/redirect_red2green/episode_0002/colors/000031_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..13da72375ff5d89303b347f23dcfb381d40eb91f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000031_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa06ced195d690b39e94d3d0c8bb813a0b1b5f7e972f2eb5508968158c8fbca7
+size 193971
diff --git a/redirect_red2green/episode_0002/colors/000031_color_2.jpg b/redirect_red2green/episode_0002/colors/000031_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cc37a624e6278692a082f7c37a23b02498096703
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000031_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ced30ec0964e346dd8e6eef68b9a19bdf67054572255fcf00ee8216c4dc481f
+size 105516
diff --git a/redirect_red2green/episode_0002/colors/000032_color_0.jpg b/redirect_red2green/episode_0002/colors/000032_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1e97587d7fe4af21d86d2086feb5fc76736e0110
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000032_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0e29027bc8cdd7dfd79313e6ca99d9214b0c25fc9eb33d980426b3f2a32751
+size 196941
diff --git a/redirect_red2green/episode_0002/colors/000032_color_2.jpg b/redirect_red2green/episode_0002/colors/000032_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d547c59769b80eb8c62dfb6672cd9bd342586471
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000032_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cab05da7a588d302075b053d6e26292b4026ed809100ac7296e3b8ec58699003
+size 105742
diff --git a/redirect_red2green/episode_0002/colors/000033_color_0.jpg b/redirect_red2green/episode_0002/colors/000033_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f2d9fff32a5696cf00648b0babfe6173ad89e335
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000033_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05cfc1fbcd6badb918087a71f28622d798b0933cdbcdf4519eeacd69bc201b4
+size 195610
diff --git a/redirect_red2green/episode_0002/colors/000033_color_2.jpg b/redirect_red2green/episode_0002/colors/000033_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2ef1ddc3f5e1e1529e1d36d5f0ff954248e2565d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000033_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c52e06ec4f3a58bd089452a623ba8560ef34d8a6cd21223d0db9700a714abe18
+size 106108
diff --git a/redirect_red2green/episode_0002/colors/000034_color_0.jpg b/redirect_red2green/episode_0002/colors/000034_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f2d9fff32a5696cf00648b0babfe6173ad89e335
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000034_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05cfc1fbcd6badb918087a71f28622d798b0933cdbcdf4519eeacd69bc201b4
+size 195610
diff --git a/redirect_red2green/episode_0002/colors/000034_color_2.jpg b/redirect_red2green/episode_0002/colors/000034_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7941371c19683dd012749688b07439da9b520dea
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000034_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e885b86da9a29f5ff4ba1b99706f9a0722de867067c097877135530812e8bf
+size 105752
diff --git a/redirect_red2green/episode_0002/colors/000035_color_0.jpg b/redirect_red2green/episode_0002/colors/000035_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1f7bc517ad8c5f6164710b8050b2725d37a23799
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000035_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cab7887185f86cfc12fdf51729593f4e3fdb29883bc0ad3eff1b89e4632ab5e5
+size 194376
diff --git a/redirect_red2green/episode_0002/colors/000035_color_2.jpg b/redirect_red2green/episode_0002/colors/000035_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..31eed9553e3eda5e68e048b4da8743c8c8d6d1cd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000035_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652dbab494d154246ca86ce63be50c3f6241d87b28b144e25fb7394ecf1d390b
+size 106749
diff --git a/redirect_red2green/episode_0002/colors/000036_color_0.jpg b/redirect_red2green/episode_0002/colors/000036_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ffcb27015c68e9ca9148356c43f024f7e09aa2b9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000036_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b723d343f6448b3cabda67a3724c0cc0d2ea5be5af8b6e39bd8a5fd6417c33b6
+size 195454
diff --git a/redirect_red2green/episode_0002/colors/000036_color_2.jpg b/redirect_red2green/episode_0002/colors/000036_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..904912b27e58d5ba0db1adfeadee16273df29399
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000036_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f3dbe74899a8d592e9ce335b624b5bfc89a2d28d776cc5f93fddac991ed956f
+size 107608
diff --git a/redirect_red2green/episode_0002/colors/000037_color_0.jpg b/redirect_red2green/episode_0002/colors/000037_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dd04278aa0be0104308138fc40bad8b523a4e13a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000037_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0c17dc035314f80eb3747390df54b1f65b786af3a91c0822987bb85862c74f
+size 195908
diff --git a/redirect_red2green/episode_0002/colors/000037_color_2.jpg b/redirect_red2green/episode_0002/colors/000037_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4ab74ffb2a2b367b6a5bff5247437600ab6b0517
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000037_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff94c92b774ce92351af74bff7bc467219d1b15fdae922da3bedef6b46ccf2f8
+size 108344
diff --git a/redirect_red2green/episode_0002/colors/000038_color_0.jpg b/redirect_red2green/episode_0002/colors/000038_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c787f15329690c730267bd61c0d2db2871742c84
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000038_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f940aece12198a3a8eeada2c93305341c1b688fc4b1e02c27d24bc26c02a4fe
+size 198902
diff --git a/redirect_red2green/episode_0002/colors/000038_color_2.jpg b/redirect_red2green/episode_0002/colors/000038_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9fac4cad9151dbab0ede1f725f74edcd017a1b7f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000038_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76dd4abf52d963c6279ce308485e5eb13504741608743364f849c986de61333e
+size 107706
diff --git a/redirect_red2green/episode_0002/colors/000039_color_0.jpg b/redirect_red2green/episode_0002/colors/000039_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..68da343e204c5afb7dfba8e2fbb97dacccac96fa
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000039_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e89bfbae67c5c58cb8841a0849bf69d8a6a424a9dcd5355f6ea5f3ee5c828d
+size 199650
diff --git a/redirect_red2green/episode_0002/colors/000039_color_2.jpg b/redirect_red2green/episode_0002/colors/000039_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c7dc831f28e675dce52bc806cfe4aa7addf06885
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000039_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98a9e0f4a59d05d4528aa7869fcf098441b324f54b9f6341759575a0216e9b7
+size 106830
diff --git a/redirect_red2green/episode_0002/colors/000040_color_0.jpg b/redirect_red2green/episode_0002/colors/000040_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..13a1759487d3dc1c44e22a01db2f9a06444c13ec
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000040_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be5c11fc35e36a5c2084ea72a88a3488688d9b37bac5a68ba412dd73774fd25b
+size 199645
diff --git a/redirect_red2green/episode_0002/colors/000040_color_2.jpg b/redirect_red2green/episode_0002/colors/000040_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..83ed72875fa4863624b05ecb046b15dc93092dad
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000040_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4bdba76b233f1bd26bd697cbb718fa6163e34524208462fa6e51d7a861d9a0
+size 107886
diff --git a/redirect_red2green/episode_0002/colors/000041_color_0.jpg b/redirect_red2green/episode_0002/colors/000041_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f89607353dfb5e5be8a7038e35bd941cf0a0ffb4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000041_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba52cc7b3da70127d024696a0aaf33170c9a8c9fe54f215138ec66205fcba60
+size 199175
diff --git a/redirect_red2green/episode_0002/colors/000041_color_2.jpg b/redirect_red2green/episode_0002/colors/000041_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..142c1bf7e1adecc6b6d88cf1a2d24f88b0c98793
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000041_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d6aa9c78bb534e572341296a8dd19d00b1e6f443bb87166717fd4c8782c12b
+size 107593
diff --git a/redirect_red2green/episode_0002/colors/000042_color_0.jpg b/redirect_red2green/episode_0002/colors/000042_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..40148732f441eeed65994aaad40a7885f91a7030
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000042_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc534a2a46ecc1779f1ae0636be57f23096268adf65d7c3b25f4f2aea81f89e
+size 198824
diff --git a/redirect_red2green/episode_0002/colors/000042_color_2.jpg b/redirect_red2green/episode_0002/colors/000042_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9f5b7d0eaa7a223d7b88b924fdc525fdaa57fea3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000042_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578162af2b1ebaae4f6c86c10fbef82a43924555152ba848a68d51f45faa6e9f
+size 105533
diff --git a/redirect_red2green/episode_0002/colors/000043_color_0.jpg b/redirect_red2green/episode_0002/colors/000043_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..355f066de223d64d617510bfae1bb4bdc922c403
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000043_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0d88a743c9bdacb5560f62015205eae649f996307ccb2988358e94eb5b84d0
+size 196617
diff --git a/redirect_red2green/episode_0002/colors/000043_color_2.jpg b/redirect_red2green/episode_0002/colors/000043_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a9564bcbcfe9dec3b73cf2533deeec33daf4f164
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000043_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed6ccafb719b79144774271462f01ad63b2abffe5c00f407a0718477f1c61a9
+size 104576
diff --git a/redirect_red2green/episode_0002/colors/000044_color_0.jpg b/redirect_red2green/episode_0002/colors/000044_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..676c5c59c0ae2c622b7e38243aa19da2c157034d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000044_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df57268f3d21654c2ec2625fd9188ff9695486774a535e420098d32b15b7933e
+size 197054
diff --git a/redirect_red2green/episode_0002/colors/000044_color_2.jpg b/redirect_red2green/episode_0002/colors/000044_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..59ac123eb7e06dbdb768843926aacac7fa9cf4b6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000044_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6046d41b1682b8d54c73c32d3f65f936b8acaf821feff6ac27f6181d895517
+size 103815
diff --git a/redirect_red2green/episode_0002/colors/000045_color_0.jpg b/redirect_red2green/episode_0002/colors/000045_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aaaba10bd0e552278484faccc50442a1bff778f6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000045_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ad42ad9d0b51f27c42c90f1f653d46227176c03b73145e629e3ff55c993e73
+size 195684
diff --git a/redirect_red2green/episode_0002/colors/000045_color_2.jpg b/redirect_red2green/episode_0002/colors/000045_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0505749fd7baa35c0189c191356967fe57e49f34
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000045_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:247eaa39237ae0f40e2abc73eca8eb97839851cd1fbfd349fae70c70f34461af
+size 104410
diff --git a/redirect_red2green/episode_0002/colors/000046_color_0.jpg b/redirect_red2green/episode_0002/colors/000046_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d4a7dc756954a84c37ee59233142263c4b67821d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000046_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f7feb42921f06019ca1613606e94ceb7e9deae8b2ce621772368a79ef08243d
+size 195498
diff --git a/redirect_red2green/episode_0002/colors/000046_color_2.jpg b/redirect_red2green/episode_0002/colors/000046_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..74405598c803060da5b83597afed529cb90074aa
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000046_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45636afb39ceb687ae214d99d66e313127376ef6eca9d55c6651ecd74726a216
+size 105506
diff --git a/redirect_red2green/episode_0002/colors/000047_color_0.jpg b/redirect_red2green/episode_0002/colors/000047_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..564c38a2af7a3c68bdb8fc79e202c883d28d7d9b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000047_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bce45e20c2612e6818bc873c2b4b6af9cf73ba290b7a30ecc4bff98e6e363ca
+size 195912
diff --git a/redirect_red2green/episode_0002/colors/000047_color_2.jpg b/redirect_red2green/episode_0002/colors/000047_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0734fd4be369264fb4037e9e425a2a700082c72d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000047_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3973e8cb3dbc7dcc83919dcb4a7b4cfbc7547c44c770f23f12564df70ccbca0e
+size 106881
diff --git a/redirect_red2green/episode_0002/colors/000048_color_0.jpg b/redirect_red2green/episode_0002/colors/000048_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..01d94f19def139397b2e918206c1461cd7800145
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000048_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095ece58689679cbe498ae3b9f3e822048d4fdef066bca2f799b4c19a241d7a9
+size 197047
diff --git a/redirect_red2green/episode_0002/colors/000048_color_2.jpg b/redirect_red2green/episode_0002/colors/000048_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5fabd8788836418949e73e78e1ab084623422c22
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000048_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b431324d4313dcc2a4dd309cbca5201b125dcb32eafb6f2166c83d1f6592d113
+size 106967
diff --git a/redirect_red2green/episode_0002/colors/000049_color_0.jpg b/redirect_red2green/episode_0002/colors/000049_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dabb681335e6f4b16c381f21e291eca8b73a593b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000049_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895489de7f7980995bf98b6046460a554234d1fb7b1f96f85391b6e611cdfe35
+size 201047
diff --git a/redirect_red2green/episode_0002/colors/000049_color_2.jpg b/redirect_red2green/episode_0002/colors/000049_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9c57677f5d16957bc8cbe44f1bccdf27ca361432
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000049_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b672b5d38ff0c86242f69a6dce3fca4839117206d8fce0901614d7671320b399
+size 105490
diff --git a/redirect_red2green/episode_0002/colors/000050_color_0.jpg b/redirect_red2green/episode_0002/colors/000050_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a58e9ba3dbeb66e50a4a816d120d3e6e7a40ad67
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000050_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dfabc6d594d163a4477b36199b649ed2a5c4138f0303b12aae63bd017c12496
+size 202106
diff --git a/redirect_red2green/episode_0002/colors/000050_color_2.jpg b/redirect_red2green/episode_0002/colors/000050_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c3c185ce420cc7da26fdb7f32b3d613c415f8020
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000050_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad855896e38ddbd899abdb1f58e312a8acd2d4d3b8c05a68fafea777a69b771a
+size 105457
diff --git a/redirect_red2green/episode_0002/colors/000051_color_0.jpg b/redirect_red2green/episode_0002/colors/000051_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c1b0ff85f3030b0f658e5c92b5b4d1bb3de9eefc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000051_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e003a8c9ee849e79cba6426f599bdfc3029cade20fc7a58d5cb39b4df4261fa
+size 202071
diff --git a/redirect_red2green/episode_0002/colors/000051_color_2.jpg b/redirect_red2green/episode_0002/colors/000051_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a368ef28c4b9c538f10023b483ae8e650f12134d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000051_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcd51e707d8d4c273d229b18dfa4c875e5e64147d95ec3a756e6c5e63aa8cd3
+size 104386
diff --git a/redirect_red2green/episode_0002/colors/000052_color_0.jpg b/redirect_red2green/episode_0002/colors/000052_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..daae8438a3d058c49e9bb37d09b773d78eaef568
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000052_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9968bce6f5e75fae103c31ca59768267fe7fc20d71c19f78bb07db19da6489cd
+size 201904
diff --git a/redirect_red2green/episode_0002/colors/000052_color_2.jpg b/redirect_red2green/episode_0002/colors/000052_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1b73174a2f59b56f5b99e95ea1c05e1036c5b489
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000052_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0e18bd8dae5e0871650846c80456f49fb58f2a80d01e65b3d4c326c094ec64
+size 103346
diff --git a/redirect_red2green/episode_0002/colors/000053_color_0.jpg b/redirect_red2green/episode_0002/colors/000053_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a6d05df3520a443c57f0baa6ae025e458ea4802a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000053_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8964c8a07fa9f2c7c20d9abf5edb3662b15eb8912563f5577a8dc3d3ae12dc6
+size 202716
diff --git a/redirect_red2green/episode_0002/colors/000053_color_2.jpg b/redirect_red2green/episode_0002/colors/000053_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8e1e09821c11e82c9878f58239ba4e97ad0eb3c9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000053_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd74ae443d7124f7019fbe7e9e2271567031c416581725002c8b496e631ca422
+size 102665
diff --git a/redirect_red2green/episode_0002/colors/000054_color_0.jpg b/redirect_red2green/episode_0002/colors/000054_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..13207a750c9b5371fc9ae12545df3f5e86e8c1fe
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000054_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b470524501504328046a55e0f2cb7223c17656e2a429eab9fc1780bc812b5da
+size 200991
diff --git a/redirect_red2green/episode_0002/colors/000054_color_2.jpg b/redirect_red2green/episode_0002/colors/000054_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..91fea9495e68d666c15fdbc73b9fde59eb12fce3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000054_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bd04ad903ef762d08325ea5a408c25e89fb529f26d7a7f3b61c54de3212b1c7
+size 101191
diff --git a/redirect_red2green/episode_0002/colors/000055_color_0.jpg b/redirect_red2green/episode_0002/colors/000055_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..22c2e444f3673d4feb8a30ebb4027528c6b48bc7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000055_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387ecba6e2195a127ef2ac46cad54c299772aeda96afb4c7a0ad0c00918fcb2d
+size 200812
diff --git a/redirect_red2green/episode_0002/colors/000055_color_2.jpg b/redirect_red2green/episode_0002/colors/000055_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7b1d2f20689288c01ad6e04ebd1d96c6cdacf10b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000055_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81934a26904008d0d2465eb8982a34e733b493a4b3000af16bc422899ac3f9d
+size 101022
diff --git a/redirect_red2green/episode_0002/colors/000056_color_0.jpg b/redirect_red2green/episode_0002/colors/000056_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f77ada2403eb9bbdfc04574885d2cb2b0b733a13
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000056_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc43fcfe545a40762a4c5fc37e8c9ea3920de11c6760c36aa2c5508a30194e2f
+size 199395
diff --git a/redirect_red2green/episode_0002/colors/000056_color_2.jpg b/redirect_red2green/episode_0002/colors/000056_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a04f2f9c3b28e17fa9119c151d3db5d4df67352e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000056_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2143c82923462f8283f96ade7c997986ad05de93b6622dc51e14c8b4b95f8c42
+size 100631
diff --git a/redirect_red2green/episode_0002/colors/000057_color_0.jpg b/redirect_red2green/episode_0002/colors/000057_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cd65cb16660d823f029c9fed1298ca209fe7e7f4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000057_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a08d86be3925d520a9776b87dce704c69d2765bbd7e4b48c2fbc8e1691d480
+size 198825
diff --git a/redirect_red2green/episode_0002/colors/000057_color_2.jpg b/redirect_red2green/episode_0002/colors/000057_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1ec70877205a0c8bcc500e3fe0c9e2f9ac6e8dfb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000057_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a7129218acd9e369f0982697a7fbb0b259977ab4d98e3d3a68df8302a14882
+size 101347
diff --git a/redirect_red2green/episode_0002/colors/000058_color_0.jpg b/redirect_red2green/episode_0002/colors/000058_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ff4c49850cf25456852877327dbe4d6a3955da93
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000058_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0052bea583ae26da7fddccf44684700d7c71c89cafd6540e6424281b21b71551
+size 197532
diff --git a/redirect_red2green/episode_0002/colors/000058_color_2.jpg b/redirect_red2green/episode_0002/colors/000058_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b5717d01ba8ca35b9e937d42b20440ae7db43b2d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000058_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c596a89ad9e2c51a2f408f79c153bd907feec6dd85b43b9655a1815e593260c9
+size 97849
diff --git a/redirect_red2green/episode_0002/colors/000059_color_0.jpg b/redirect_red2green/episode_0002/colors/000059_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3a9c5749eb0f63b9a5f0d0ed10c78d6a8b5ba67e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000059_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a22412cde1d3878cdffb39e715a8ffa55caaa44a3abdb05ce609e9cd9e768d4
+size 196792
diff --git a/redirect_red2green/episode_0002/colors/000059_color_2.jpg b/redirect_red2green/episode_0002/colors/000059_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b00acd5e025748783e5bdffe199d676a410d75e2
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000059_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a8eff6a12c340c6fc747d75237787bf5985794021db10e625eb969ac9ee8e6
+size 98175
diff --git a/redirect_red2green/episode_0002/colors/000060_color_0.jpg b/redirect_red2green/episode_0002/colors/000060_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..335c2eae7d0bda06605b2048d76b7a28fb6ae599
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000060_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a6854a4540f9d56f17f868d96aabc13dcf75509ccd8c11120183ae69e11fab
+size 197127
diff --git a/redirect_red2green/episode_0002/colors/000060_color_2.jpg b/redirect_red2green/episode_0002/colors/000060_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0a9f6f5a2287ff33a74762a09a625abf8783f8ee
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000060_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d09476fc59833d22bf67b6094a8b0bfad1e5bce18cde23def9d797a19035f0d
+size 98462
diff --git a/redirect_red2green/episode_0002/colors/000061_color_0.jpg b/redirect_red2green/episode_0002/colors/000061_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2a094c8ce889eb6dab2a8aa891f95324092ad164
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000061_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef4c5ee46d9efc03a5e5ca10cf79112e2fa40bb202262897a276de0fc0795db
+size 196526
diff --git a/redirect_red2green/episode_0002/colors/000061_color_2.jpg b/redirect_red2green/episode_0002/colors/000061_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3acafacfb619cd01971ccc5a42bf2e4df6178f47
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000061_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba3bafa62966c3228625aa2bae9bc4f78df2fa79b44d5f8d7d630818bc9ef08
+size 95081
diff --git a/redirect_red2green/episode_0002/colors/000062_color_0.jpg b/redirect_red2green/episode_0002/colors/000062_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..218fc1f03a6a96d306f0c1c75fcd4cc50c4d3e69
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000062_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de9cf926569240e91eb5217e0eba8e7852f3a322213a7b0ba79a21b82ffb16e
+size 197021
diff --git a/redirect_red2green/episode_0002/colors/000062_color_2.jpg b/redirect_red2green/episode_0002/colors/000062_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5a1ccefd701f07ed327205dd54e6e0a141fe19a3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000062_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3b16aa7db09805729cf082551c6511488c78278299da4dd94767763e67ad34
+size 95315
diff --git a/redirect_red2green/episode_0002/colors/000063_color_0.jpg b/redirect_red2green/episode_0002/colors/000063_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..882e404240b1f93e2e0d13ecacedd10d6c0a6ebc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000063_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2543e6e0ba0afff0b18a34c670721b1512f7d37ef74a272f5292f0e8b681b882
+size 196837
diff --git a/redirect_red2green/episode_0002/colors/000063_color_2.jpg b/redirect_red2green/episode_0002/colors/000063_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d74bccd1dce62b3cb52b5ab89d396200bced0a8d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000063_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924c32b857eb0f2f46aa76cbd04a57a8ec6e0c00a4fb96b4130553905eb9395e
+size 95389
diff --git a/redirect_red2green/episode_0002/colors/000064_color_0.jpg b/redirect_red2green/episode_0002/colors/000064_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fa943f5568ede92b7ac337c882015924c7734320
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000064_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06894b34bdac1a71cc9031c0e499daaa98e862174a84f66e884b9cd381920bdc
+size 194978
diff --git a/redirect_red2green/episode_0002/colors/000064_color_2.jpg b/redirect_red2green/episode_0002/colors/000064_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0540332054d0fc3a8b3c13cd820ac48f9018415d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000064_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5b93553441210fd152bd0852cc964d3475a2e83c4e0e0261fd98d11e9fdb03
+size 91361
diff --git a/redirect_red2green/episode_0002/colors/000065_color_0.jpg b/redirect_red2green/episode_0002/colors/000065_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a0ac0eb824ef2a3edc1160323b1dcbbda536ae41
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000065_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de169acb58431aed95716d25acf2cd84bb20c55fae325150ecf14456c6717ad
+size 195124
diff --git a/redirect_red2green/episode_0002/colors/000065_color_2.jpg b/redirect_red2green/episode_0002/colors/000065_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..271eacdeb6d8b1306badb700caf876d14e9e83ea
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000065_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359e055b891cdc3b9b3c9b06379687824759f4e83bbf4fcbe38b0c7f60d8e263
+size 91726
diff --git a/redirect_red2green/episode_0002/colors/000066_color_0.jpg b/redirect_red2green/episode_0002/colors/000066_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..59e36c271c4e1b10620149407feb59c4039666f9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000066_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031a83323f41fb7e7ca051cc34711bddb5e72d59da5ff7a20825ed7bbd1a00dc
+size 195841
diff --git a/redirect_red2green/episode_0002/colors/000066_color_2.jpg b/redirect_red2green/episode_0002/colors/000066_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..133cb63ca1b7a2dab28a40187c204f7cf06203f3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000066_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fca0d2effa15989e3e335e71f9db17a306abc71a68ab62a64e4da3b400751486
+size 92099
diff --git a/redirect_red2green/episode_0002/colors/000067_color_0.jpg b/redirect_red2green/episode_0002/colors/000067_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5e2c37139f9d19448b885fcc42a00b9b3939d1c3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000067_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:106ff1be15ceab4959649901004191fc37ac33e53d97457c12de98beb298373c
+size 194656
diff --git a/redirect_red2green/episode_0002/colors/000067_color_2.jpg b/redirect_red2green/episode_0002/colors/000067_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cce9ed88a99e382e2bfa97221437d1dc281e9812
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000067_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7078def4da49cfb2c65c29550e27446c00ff2436fa107df26b214e2ca5f14df2
+size 88276
diff --git a/redirect_red2green/episode_0002/colors/000068_color_0.jpg b/redirect_red2green/episode_0002/colors/000068_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8b49cc0cc99c17174c3fa94ca19e1219dd635f95
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000068_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdbc433777f781f78fa301bdbfdb43b84adbbdbf49d844a2f591eb1a81712017
+size 195325
diff --git a/redirect_red2green/episode_0002/colors/000068_color_2.jpg b/redirect_red2green/episode_0002/colors/000068_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..55f1ea00ff3771596bee4386f8738e29a4a658c5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000068_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:442cca5d985c26d185eddd3dbf33281022bb2e6fd72936827d1e9a480d5d12ea
+size 88894
diff --git a/redirect_red2green/episode_0002/colors/000069_color_0.jpg b/redirect_red2green/episode_0002/colors/000069_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ed8ab8fe2ff8718fd8beec6a17cc000b2e31f976
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000069_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f43fbcc4c8d13a1ee61e5400234c44c3140514c599a803720ca87181d45b44
+size 194665
diff --git a/redirect_red2green/episode_0002/colors/000069_color_2.jpg b/redirect_red2green/episode_0002/colors/000069_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..85316f1bfdcaee9b7a40a8a982905025449fdcb7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000069_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:526423d92828a3767bf7049e38252931376b41c96de4fabecd2cd9f5e5f4af0f
+size 89180
diff --git a/redirect_red2green/episode_0002/colors/000070_color_0.jpg b/redirect_red2green/episode_0002/colors/000070_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec9769e8690985c870592d0bdbfe23607b339df6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000070_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcf4650d557a23d1ec6a4599d677454305d22f35833e49f41356ba9f12595965
+size 194425
diff --git a/redirect_red2green/episode_0002/colors/000070_color_2.jpg b/redirect_red2green/episode_0002/colors/000070_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aa85de99f7dfc29071895abb6670b59ab4e5ea30
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000070_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63dcb1233dcbaf9eb25b72114b69412eaf2fbcb3075aea9f36336df719c14922
+size 85933
diff --git a/redirect_red2green/episode_0002/colors/000071_color_0.jpg b/redirect_red2green/episode_0002/colors/000071_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f102001d9df569d899482585a1cf7a036d1014cd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000071_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e790d809c415bac4d9bc27ede19e931eb9a7f84e8de4ee77a09102d05c377f07
+size 195791
diff --git a/redirect_red2green/episode_0002/colors/000071_color_2.jpg b/redirect_red2green/episode_0002/colors/000071_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..630b3d435695f0cfb20dc4e1d329358484925988
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000071_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:928f8d53a58b35ce19de2f425e717c65e170c1c2cc6d1a2d7fc08f723b7b59b2
+size 85352
diff --git a/redirect_red2green/episode_0002/colors/000072_color_0.jpg b/redirect_red2green/episode_0002/colors/000072_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f8de65ccb2b5f76740145335673848f27e0e810a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000072_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72d83732765731f7ac7d74c326bd5c86e159efcadd2f238a622bc0b76774bd4
+size 195233
diff --git a/redirect_red2green/episode_0002/colors/000072_color_2.jpg b/redirect_red2green/episode_0002/colors/000072_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d1b7ecae83fc695436cd44f3343f65562127dc71
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000072_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a3b8b2fe9ad447500787dfa69d44feda19f89389c1451f7ffd3bfb57a7bca3
+size 85387
diff --git a/redirect_red2green/episode_0002/colors/000073_color_0.jpg b/redirect_red2green/episode_0002/colors/000073_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1be3abcaf56f3c87c4dd2a9cf5fbe2c2977814a7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000073_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9078804f49d63d285a5739407158438ad5535414a25b4f53844227fbafa486dd
+size 195724
diff --git a/redirect_red2green/episode_0002/colors/000073_color_2.jpg b/redirect_red2green/episode_0002/colors/000073_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0a2bf5c9519f6a7b31dfa193115bdca0aae785b8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000073_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e0b40e93ad20297cd58150f9ad6be60890754dfeb534c5698a430fa6dfc89d
+size 83201
diff --git a/redirect_red2green/episode_0002/colors/000074_color_0.jpg b/redirect_red2green/episode_0002/colors/000074_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7fcbc42deeccdd68af4580a13865bd3637164d7a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000074_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2be53fcfd8864b60e0d390bce2a7bff83da0212e72d77dc9389c2cf1d84c03
+size 196421
diff --git a/redirect_red2green/episode_0002/colors/000074_color_2.jpg b/redirect_red2green/episode_0002/colors/000074_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cbcb2bd834e80f32a7e9070d4b1d05d94ef0b7e7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000074_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5763ca6425c5a5dc35b5d4e3539145a819bd838b6ea1157b839dec30b328b27
+size 81566
diff --git a/redirect_red2green/episode_0002/colors/000075_color_0.jpg b/redirect_red2green/episode_0002/colors/000075_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7fcbc42deeccdd68af4580a13865bd3637164d7a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000075_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2be53fcfd8864b60e0d390bce2a7bff83da0212e72d77dc9389c2cf1d84c03
+size 196421
diff --git a/redirect_red2green/episode_0002/colors/000075_color_2.jpg b/redirect_red2green/episode_0002/colors/000075_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..555515008c582373b8356195d0c2d0d0cadec921
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000075_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac9e8934dff27820529ad827544e0fff061a6f92bb673153c0fe87a1f61761c
+size 80796
diff --git a/redirect_red2green/episode_0002/colors/000076_color_0.jpg b/redirect_red2green/episode_0002/colors/000076_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..042907f640d9db2506107e5b49e163a568a620a0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000076_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87b654108ea623a44bd3df3ffa69f749d197d783763f598c783c90c6619de64
+size 198023
diff --git a/redirect_red2green/episode_0002/colors/000076_color_2.jpg b/redirect_red2green/episode_0002/colors/000076_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..af78b76c78ccd615b10143411dc36269dbd344c0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000076_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b237205fb0fff44697e07eb76b685c58194543ca29b46affdde3dd02e3f9cf24
+size 77583
diff --git a/redirect_red2green/episode_0002/colors/000077_color_0.jpg b/redirect_red2green/episode_0002/colors/000077_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ac5eb126b586428c8642dec50b3dbc5bb9a39b2e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000077_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7d1907092fc9d5159ce9a019c182c68c41b47ecdb08f49300a32dd71117026
+size 198731
diff --git a/redirect_red2green/episode_0002/colors/000077_color_2.jpg b/redirect_red2green/episode_0002/colors/000077_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8f7597187bafff61371958c4ac2b3204051bc796
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000077_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db411af1e1cdf143f9e597fdb117add4191c8cc041eb6dcf2e92bc3582bd771c
+size 76900
diff --git a/redirect_red2green/episode_0002/colors/000078_color_0.jpg b/redirect_red2green/episode_0002/colors/000078_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7a4d1d7a618128b5f5bebd7476fa98ffdfc038bb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000078_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd1115b0838c853811b41f210cd4b49d1846574307cc8371dbf055206d28d68
+size 199664
diff --git a/redirect_red2green/episode_0002/colors/000078_color_2.jpg b/redirect_red2green/episode_0002/colors/000078_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c37442247f02f4df4a436a64b5e74f4f3c45d264
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000078_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25da915675f4d3478b3e1e361f706992ebf64d0533001dde79bec3ae08ae99b9
+size 75579
diff --git a/redirect_red2green/episode_0002/colors/000079_color_0.jpg b/redirect_red2green/episode_0002/colors/000079_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d6900440acec43b077cedcd1012872312bc22631
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000079_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4780e733e2fb16a830bd55ff089e913220a71ce5fd931512386993e287bb2d4
+size 198807
diff --git a/redirect_red2green/episode_0002/colors/000079_color_2.jpg b/redirect_red2green/episode_0002/colors/000079_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2b49caf33519229aba8c5fbe6f9eec32bca1807a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000079_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9a1563b7a0ea177ae6ee6072a1b2fff8ff96d91203bdaae38c432914b5938d1
+size 73516
diff --git a/redirect_red2green/episode_0002/colors/000080_color_0.jpg b/redirect_red2green/episode_0002/colors/000080_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4d83bebc38189700dd400ec2ce09f0e73150f1a9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000080_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a34de1c6a2f922177296eab8bd22b2920bafcd37e3b13ddef6c0b466d5a3797
+size 196788
diff --git a/redirect_red2green/episode_0002/colors/000080_color_2.jpg b/redirect_red2green/episode_0002/colors/000080_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cf1228d7fa60fd7994b4f2abf9c2ae0b63a90ad0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000080_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a8288f355424bf68b1ccd06dfbcd96608f049eacb4b2f4380d86c6eb66aecb8
+size 73803
diff --git a/redirect_red2green/episode_0002/colors/000081_color_0.jpg b/redirect_red2green/episode_0002/colors/000081_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fe5abf48eeab3a8f6ae07f9911b3308c6ff48071
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000081_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef55ddca7dfccde233d216a370f7666c71e1598007882db59d68363269f7c1fd
+size 194804
diff --git a/redirect_red2green/episode_0002/colors/000081_color_2.jpg b/redirect_red2green/episode_0002/colors/000081_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b520666897b5007cf31b4ae81a38e73ff9c11b75
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000081_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af65af0b6a50b2bbb7452dd88867356682cb6ec34bfc5b7b6effe25555eaf8a4
+size 73936
diff --git a/redirect_red2green/episode_0002/colors/000082_color_0.jpg b/redirect_red2green/episode_0002/colors/000082_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..01d13ea93c5ccdc126ea7c9bfbcbf8366ab5b84a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000082_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf932538dc0b7bd7b459a3c5b2e913a105dcb0781de8657b46f4c023993de0b8
+size 194517
diff --git a/redirect_red2green/episode_0002/colors/000082_color_2.jpg b/redirect_red2green/episode_0002/colors/000082_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5610cee30c78cedb0020c6c238d4af0bd0806cd4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000082_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e5bc64f6e056a5da9845dec92f22d700689457deabb1387fba4edfdea64764
+size 71786
diff --git a/redirect_red2green/episode_0002/colors/000083_color_0.jpg b/redirect_red2green/episode_0002/colors/000083_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1d25deb1041e0b9ca8abb4b7fd46af29488524cb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000083_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659bab2edf7b7ba5ca8c7a9cc289493e83e81c36618b40fbe5dbd382f83059e2
+size 193948
diff --git a/redirect_red2green/episode_0002/colors/000083_color_2.jpg b/redirect_red2green/episode_0002/colors/000083_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..77c0489c4a061d3c57175a0cdddd037f878b50b3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000083_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b22bef4d8e5e2a613f97a96ad5fa76610e9826740ea0e42f91a7918cacaf6f
+size 72444
diff --git a/redirect_red2green/episode_0002/colors/000084_color_0.jpg b/redirect_red2green/episode_0002/colors/000084_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f9572ea9a2d0317a3868c7947b8b6b57a6007414
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000084_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3428a47685c03df7b648ad7cb7a4726326a813207567df0e5e6f00c1c814e5b7
+size 194350
diff --git a/redirect_red2green/episode_0002/colors/000084_color_2.jpg b/redirect_red2green/episode_0002/colors/000084_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9b99befcd006dc15633b6471da668f1a70702d7b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000084_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f149c1bf2e58df42e12c33a7bf2cd9e6ca8f867c4c28c4c71e79a4c603086950
+size 73004
diff --git a/redirect_red2green/episode_0002/colors/000085_color_0.jpg b/redirect_red2green/episode_0002/colors/000085_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5292cc94fb6223aecbed00394dbdf6dd6f6c6a83
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000085_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef69ded8978fbc18eab0a036a8b6eb13c843d20c3ca38549891419668e69c7f
+size 197627
diff --git a/redirect_red2green/episode_0002/colors/000085_color_2.jpg b/redirect_red2green/episode_0002/colors/000085_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b0725275d654f47def4f8148a5fa290676c3da29
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000085_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a77720cf928e4dc774b05af5474522a66e467952c7adb3112f327dc17020a7f
+size 67851
diff --git a/redirect_red2green/episode_0002/colors/000086_color_0.jpg b/redirect_red2green/episode_0002/colors/000086_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9a006957e99b8e48dce89d8c4cb57c0beb0fa19c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000086_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f3879ced48950238b6ebb2ac2c04ff43404c609ecec29acb5f02270bc6e84a
+size 201981
diff --git a/redirect_red2green/episode_0002/colors/000086_color_2.jpg b/redirect_red2green/episode_0002/colors/000086_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4c4a83fa4c928fb8470ee0196efa53bf68f46de6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000086_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf682b6694a636b406dc9d300546ee6c133b576dd11e3b1ead3073d0202027cc
+size 67070
diff --git a/redirect_red2green/episode_0002/colors/000087_color_0.jpg b/redirect_red2green/episode_0002/colors/000087_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9a006957e99b8e48dce89d8c4cb57c0beb0fa19c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000087_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f3879ced48950238b6ebb2ac2c04ff43404c609ecec29acb5f02270bc6e84a
+size 201981
diff --git a/redirect_red2green/episode_0002/colors/000087_color_2.jpg b/redirect_red2green/episode_0002/colors/000087_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ddfbed20fe38916a6d23e0655e6fbb8aa1c8e3d3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000087_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d796c5a8d39bf0bd97edd1e334b7d57bf957cfe77a3d9a2cfa3ef0ce6de9df92
+size 67056
diff --git a/redirect_red2green/episode_0002/colors/000088_color_0.jpg b/redirect_red2green/episode_0002/colors/000088_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9a0da0a8f13344800d2ea7e9710cfcc2f35f13f9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000088_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700b1fd1a7dcd0de7c4388601e8c298412330394db10d336a88152385d5dd31d
+size 195971
diff --git a/redirect_red2green/episode_0002/colors/000088_color_2.jpg b/redirect_red2green/episode_0002/colors/000088_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..849f2aa7fcd50ae6fa14d2640dcb36a6ce0a87fa
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000088_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a9ff013784f9daee4d12cf60e949eb5dbe55fd3ae66a25964fda650d717361
+size 67140
diff --git a/redirect_red2green/episode_0002/colors/000089_color_0.jpg b/redirect_red2green/episode_0002/colors/000089_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..270a2683d70d8fe84f47a0ea59cdd8319a277bd1
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000089_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91402b754d6e705b4129ceac94d344ddd5c6d7aaa51e9d982214a58dc83b2990
+size 190386
diff --git a/redirect_red2green/episode_0002/colors/000089_color_2.jpg b/redirect_red2green/episode_0002/colors/000089_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..faa11cb27e50839188849dfdbf5076daa7d50b67
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000089_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a41ed8a8848e541e3201652b85a63ab00e645db7204462893d5381a428dcc066
+size 67907
diff --git a/redirect_red2green/episode_0002/colors/000090_color_0.jpg b/redirect_red2green/episode_0002/colors/000090_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3e4ba5bd872e7ec026ec7ba0ef0f1927999932a0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000090_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434f8b395b50b5c71f361e85c3805de6a8878cc6c401f3b47be496357014307c
+size 191327
diff --git a/redirect_red2green/episode_0002/colors/000090_color_2.jpg b/redirect_red2green/episode_0002/colors/000090_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5a3b527118dbff7bf26333d55e46d4dade3a7e62
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000090_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05aa86d910e1cad61ddb81880efaac4b3c9bc766e9c5bc32c45fce278d05bd5
+size 68172
diff --git a/redirect_red2green/episode_0002/colors/000091_color_0.jpg b/redirect_red2green/episode_0002/colors/000091_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..574702068118ef0bb8fbc5e75249b7a9284d25a5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000091_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9a58d566f03e73db44d33d454342cf41b06360895dd0694f22bdcd2a71faaee
+size 193411
diff --git a/redirect_red2green/episode_0002/colors/000091_color_2.jpg b/redirect_red2green/episode_0002/colors/000091_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a0f3763c4925114a5b095b1169767c72f59b061c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000091_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c892d25257429e0ca333a9afced49d0782ec344e6a4407619accd736c80ead85
+size 67724
diff --git a/redirect_red2green/episode_0002/colors/000092_color_0.jpg b/redirect_red2green/episode_0002/colors/000092_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a3af8c25706bf66539a62ced8ec670d37a02db52
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000092_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c45b4f67fde3fd5d4602b1da0c39e92237089e97677d360d745b8e5b5be114
+size 192730
diff --git a/redirect_red2green/episode_0002/colors/000092_color_2.jpg b/redirect_red2green/episode_0002/colors/000092_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4603671f4fb95b042760a736065eb15f81893716
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000092_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a387e81b534d1578194550f32789d27d2e0883579dad9d6dffb9adf41d8803
+size 66634
diff --git a/redirect_red2green/episode_0002/colors/000093_color_0.jpg b/redirect_red2green/episode_0002/colors/000093_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d5bd8f075dc3dc3952000bc4ac168faf8e51e398
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000093_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0858051cc14498bee3572d483d38b4844747ed05f0e92e45a17828c3bc5b2393
+size 192787
diff --git a/redirect_red2green/episode_0002/colors/000093_color_2.jpg b/redirect_red2green/episode_0002/colors/000093_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5d4ca9e2935cd70e988aa3fccb7cf6b07217fa5a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000093_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:450f0ae0fa24efefecf70f1206e2481bbe0f6eec88be90b9c95af0ec66c45f17
+size 67367
diff --git a/redirect_red2green/episode_0002/colors/000094_color_0.jpg b/redirect_red2green/episode_0002/colors/000094_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f8fce5f02239c845b460fdcc490933d41bd43319
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000094_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1494e267103f2594a95a665abeb262e8e75701d9f3732742af83cef3de1befc7
+size 192108
diff --git a/redirect_red2green/episode_0002/colors/000094_color_2.jpg b/redirect_red2green/episode_0002/colors/000094_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..38e795fadd7996d861966e1c2d022ff0e9844602
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000094_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abede0ad9a277172b3e8d17b174d3685e04edb63abfab099fa1cdcbc02ed9126
+size 68881
diff --git a/redirect_red2green/episode_0002/colors/000095_color_0.jpg b/redirect_red2green/episode_0002/colors/000095_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8e363bb7972928907660e8d49bc3050f00d9d740
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000095_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fffdad27235289de227e6a598560c9c76f904af75a967f50d038f493f655fdd
+size 192534
diff --git a/redirect_red2green/episode_0002/colors/000095_color_2.jpg b/redirect_red2green/episode_0002/colors/000095_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e07dbced1e925c1ea7ec46cd2339382dad56cd9f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000095_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a10f1dd442df8a46eef6d5a0466a2a41cc73c56079dc9509afe9f553b97af26
+size 68208
diff --git a/redirect_red2green/episode_0002/colors/000096_color_0.jpg b/redirect_red2green/episode_0002/colors/000096_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1cc1d38206ee1a64eb7f2842f991325218ea3956
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000096_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10966b6bb7bb37abbca3128c7e942d092c0a34ec681efb7de510b8a1fb3fbf76
+size 192669
diff --git a/redirect_red2green/episode_0002/colors/000096_color_2.jpg b/redirect_red2green/episode_0002/colors/000096_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..11dea2dcdfb71ee052a1b7f1f0555212e75efb83
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000096_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7ccc4da3bfc53a9c279e9ca6cd89e524da99836fb94a0edfcc53a57ce8d7aa
+size 68236
diff --git a/redirect_red2green/episode_0002/colors/000097_color_0.jpg b/redirect_red2green/episode_0002/colors/000097_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dd1d609e131ae5195e7119c0845ce19fd0cccb6e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000097_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7b9bbd245f724e1a08e7b21a8a95140f4aa4eb3d1547e452416e4ff452c803
+size 194358
diff --git a/redirect_red2green/episode_0002/colors/000097_color_2.jpg b/redirect_red2green/episode_0002/colors/000097_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..916b297b2ca78585cbc1b398b47d3a765cd5212b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000097_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac09e4ede59692ecd4bab7e13af9caf8a3bd5d3356202fb3977cf5d48660146
+size 69065
diff --git a/redirect_red2green/episode_0002/colors/000098_color_0.jpg b/redirect_red2green/episode_0002/colors/000098_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..34305ea5788cfb068752355006b2b886c7e7a6f4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000098_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:420029da17c6379a9e7e808764b614f1fb100fc37c063a7357257af794fc1574
+size 194779
diff --git a/redirect_red2green/episode_0002/colors/000098_color_2.jpg b/redirect_red2green/episode_0002/colors/000098_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..95bfb158100e753b162af569861104852d705de7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000098_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9938fd944028032f6018eff94585e39a424cb5a8d0a15cc83e15f182565b8223
+size 68616
diff --git a/redirect_red2green/episode_0002/colors/000099_color_0.jpg b/redirect_red2green/episode_0002/colors/000099_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7d65cdc269885ef02845e86c53e13e187ef83efd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000099_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d399fa9f3ce4c40f80cf41062ec4892932fbf75ebe9aab02354cef215cd5c2
+size 193805
diff --git a/redirect_red2green/episode_0002/colors/000099_color_2.jpg b/redirect_red2green/episode_0002/colors/000099_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9c9c330766cbb1d2c7bf046c2af8482a51b43e8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000099_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e045017cd2376d38e85c9fb09fb7b8794219c38eaed48e4b9d11eb9f4967b7
+size 69824
diff --git a/redirect_red2green/episode_0002/colors/000100_color_0.jpg b/redirect_red2green/episode_0002/colors/000100_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..28b1a02e3556ba5f9f2877ceb1485d98fb56b743
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000100_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790e7a3296a37e2e4e6bd7d6de8f066c68e98c87cca4c60f4d34ed28646c45ee
+size 193262
diff --git a/redirect_red2green/episode_0002/colors/000100_color_2.jpg b/redirect_red2green/episode_0002/colors/000100_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..489fbf08901df4c9d0e34a32294a5ae634f910aa
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000100_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34fb4961478a6975361d307eb3bf553c13d85c0fbd8bcaefe3f90a2f03dfa5b4
+size 70424
diff --git a/redirect_red2green/episode_0002/colors/000101_color_0.jpg b/redirect_red2green/episode_0002/colors/000101_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..827fc37e2e72a5021ad832dfca9b1c5245551a62
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000101_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d4c13e41d47c9bbecd2891ba403813052df47c953723cf40ea9b3cea16a2e2
+size 192959
diff --git a/redirect_red2green/episode_0002/colors/000101_color_2.jpg b/redirect_red2green/episode_0002/colors/000101_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..12ddf4e48a0042d10072050258968050113bbe64
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000101_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788dc55785ded4e2b3fa94caec9c2ea203b77ff19b4d83cf4618ddb2e38db600
+size 72228
diff --git a/redirect_red2green/episode_0002/colors/000102_color_0.jpg b/redirect_red2green/episode_0002/colors/000102_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6d5d86e07706c2d40070d099250a74381a22f2ff
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000102_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e463a40db0bb0aa4a7a537fb0db769dbd05da697cf70363416ca33095c66df
+size 194414
diff --git a/redirect_red2green/episode_0002/colors/000102_color_2.jpg b/redirect_red2green/episode_0002/colors/000102_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d52f1250f88b027d0ea71d764e0e8baf20abf934
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000102_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa9f0dcda5221143bf5d7f316e02f67ebc6b4be73006ff8eb936219dd0a197d
+size 76019
diff --git a/redirect_red2green/episode_0002/colors/000103_color_0.jpg b/redirect_red2green/episode_0002/colors/000103_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6778ce302035850103e9b7ff17af7686c71a262e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000103_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7952b823b66909b5b02be17fbb7841a3a9262454b6c51674ec18887ecd390e4d
+size 195711
diff --git a/redirect_red2green/episode_0002/colors/000103_color_2.jpg b/redirect_red2green/episode_0002/colors/000103_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fe35d59787b15ea14eab344e83a926da2b71e112
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000103_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee9bebd4b0b4fc6a9a76bf860e712222337c499d13605a2773a3f49ee904cd2
+size 74582
diff --git a/redirect_red2green/episode_0002/colors/000104_color_0.jpg b/redirect_red2green/episode_0002/colors/000104_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bba4f1ccec5ec5c7db23e652d859850b4db169b5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000104_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98b050d68bb78ca5c25d62b30e666bcb46fbfa28293ebb3376a257669fd26f5
+size 197677
diff --git a/redirect_red2green/episode_0002/colors/000104_color_2.jpg b/redirect_red2green/episode_0002/colors/000104_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c42a51a23160dce75db6bf327e256b8aaf4d84c5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000104_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b9d10c890fed0f701b71bcae4bfa86011d706b37b2c4826ae4918bd6809003a
+size 76712
diff --git a/redirect_red2green/episode_0002/colors/000105_color_0.jpg b/redirect_red2green/episode_0002/colors/000105_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..55b3462ecb5be3ff5c5289e6d2db0fc33ffd0df8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000105_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3484e0aa5c581d45f24b60ef2953557727933246d85abbfbfb180cc01daed694
+size 199040
diff --git a/redirect_red2green/episode_0002/colors/000105_color_2.jpg b/redirect_red2green/episode_0002/colors/000105_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..89d233f8f677b06a9582996ef11b54cd20a62b41
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000105_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89e196fa3497cf68b4caec06dc3eb15f586db87c0b8efb5b290c46f67cfd8b1
+size 75946
diff --git a/redirect_red2green/episode_0002/colors/000106_color_0.jpg b/redirect_red2green/episode_0002/colors/000106_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..162540def16c0c2a49c6d6c9898035e4b63a4682
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000106_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc4bf962cdd3c24f1ae704956d55e58b084d12a0b65600192091654f139150d
+size 199172
diff --git a/redirect_red2green/episode_0002/colors/000106_color_2.jpg b/redirect_red2green/episode_0002/colors/000106_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fdb93e06014d1efb8a5537ad8944c4661b3c9536
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000106_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0dc39e57e79577b959dd56f08d463b87cc43b946956d07f1a56c7db7832c09a
+size 71990
diff --git a/redirect_red2green/episode_0002/colors/000107_color_0.jpg b/redirect_red2green/episode_0002/colors/000107_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9e7d248077db3515f5b5fd0bf03ecd3879c5092f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000107_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41d56a424f5669f0056eeb4dfc7ebd484cdf7a1649e5c76d9b30fc2e737c5292
+size 202005
diff --git a/redirect_red2green/episode_0002/colors/000107_color_2.jpg b/redirect_red2green/episode_0002/colors/000107_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..61b7f303b0cf181c21534175be3848ad93317147
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000107_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03b8f0f5508c34ea42f546d5a4f92cb17c41965b61ee1a3e6bc25ab316b4ff76
+size 68095
diff --git a/redirect_red2green/episode_0002/colors/000108_color_0.jpg b/redirect_red2green/episode_0002/colors/000108_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b7b345a24b6b3061fe59a741320354ec8e5f304c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000108_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0c17c1556e94d04d97387ba82b2583d4359a756c253c24a614b1eeb3f20052
+size 204338
diff --git a/redirect_red2green/episode_0002/colors/000108_color_2.jpg b/redirect_red2green/episode_0002/colors/000108_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2de04131123ba4f13ef116587536fdf69219ea0e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000108_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9597ca6fd4f72c5cecad30f0d1ee1a86c42bfc34f937c46a558214683707614c
+size 66147
diff --git a/redirect_red2green/episode_0002/colors/000109_color_0.jpg b/redirect_red2green/episode_0002/colors/000109_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bfd3cadc1a0822c8b54ff6c54717878677f67640
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000109_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf79439fd4cdbcb83aa963a4c5da903021c32fc4cd74168b85757bc62bafc17
+size 202094
diff --git a/redirect_red2green/episode_0002/colors/000109_color_2.jpg b/redirect_red2green/episode_0002/colors/000109_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d66f8758c9233af239ec55ea0bf51f40a81ebd12
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000109_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:444797e6fd410636ebaf0180071bc99cce303f7cb4f7db1fd599602453693483
+size 69303
diff --git a/redirect_red2green/episode_0002/colors/000110_color_0.jpg b/redirect_red2green/episode_0002/colors/000110_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2f8c8ac3529c47d492ca8dba3ca10c6faa83a9b4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000110_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ec0be2a9954670510a171308554db996764baf1e2b5ae5a23cea54e8f1e264
+size 200060
diff --git a/redirect_red2green/episode_0002/colors/000110_color_2.jpg b/redirect_red2green/episode_0002/colors/000110_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a8fac781c44d6467ba991e3a4fa19c8e87f85876
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000110_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4d72f11b29a1a19b27c7722a1c37a1bda9c64d1b1435e10107185f18d3bf67
+size 72505
diff --git a/redirect_red2green/episode_0002/colors/000111_color_0.jpg b/redirect_red2green/episode_0002/colors/000111_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d0243ce38b19c3a4451bca6d37c123dca55a1a3b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000111_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda3da4bc07af28cf6b1031b914012b4655a841d5802c90b7cdf8bff843dd133
+size 198451
diff --git a/redirect_red2green/episode_0002/colors/000111_color_2.jpg b/redirect_red2green/episode_0002/colors/000111_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1ef06912ddd225d81140d7c2a3ef2d66cbcf2cf3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000111_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8aa67de58c9417a7189d813bb53b33fb17caf8ffaf1e2f4a8f718f61222203
+size 71763
diff --git a/redirect_red2green/episode_0002/colors/000112_color_0.jpg b/redirect_red2green/episode_0002/colors/000112_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f35ae43de3f223ab433908eb30c84873afecbd1e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000112_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1653c7cd3e2cd25346fd8822e325946477c5d6c6d35e6c89b256b10d24e14da
+size 197379
diff --git a/redirect_red2green/episode_0002/colors/000112_color_2.jpg b/redirect_red2green/episode_0002/colors/000112_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..13c13da9029886eecf6d0f52f208db5013d9d5d2
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000112_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f40a7d241990f5f59f61b05a421931d4631569d74f66593678f4bc71f91765
+size 69358
diff --git a/redirect_red2green/episode_0002/colors/000113_color_0.jpg b/redirect_red2green/episode_0002/colors/000113_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f9a820c0d405f54551663a46f6311e1f5b522575
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000113_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8a7ed361955457eb295d921148f0bf86e7d0f2f6e2bccecffd51b9d7b2aee7
+size 198552
diff --git a/redirect_red2green/episode_0002/colors/000113_color_2.jpg b/redirect_red2green/episode_0002/colors/000113_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bca2da6e34a940a29348d0a53a2f6da580ea2e8c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000113_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02785fa58787268edb137f9a07bd7b2080c9d078ff7d1c8fd594bf9a7d1d2e8
+size 69324
diff --git a/redirect_red2green/episode_0002/colors/000114_color_0.jpg b/redirect_red2green/episode_0002/colors/000114_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..69c0bafc770aa28bc6731357ce2553f59f66838c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000114_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07e5b88619ef16081688bc28815e30b470a7fa341b8dfcd23fbc281218cbeae
+size 198831
diff --git a/redirect_red2green/episode_0002/colors/000114_color_2.jpg b/redirect_red2green/episode_0002/colors/000114_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9103e5345a4ca4e97c028baf90fd1aa71b470f50
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000114_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446e99742aff15f2d264dbe056a5c667753290e5db088bca5436f12bf82be8a7
+size 68857
diff --git a/redirect_red2green/episode_0002/colors/000115_color_0.jpg b/redirect_red2green/episode_0002/colors/000115_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a9d06ffa31dc6c73f4e01f92e2ca63570e9cd639
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000115_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d0304d064056bdffa57858e579fb2ee56ee5bb3c2d2338314e0c3d8e145b107
+size 197624
diff --git a/redirect_red2green/episode_0002/colors/000115_color_2.jpg b/redirect_red2green/episode_0002/colors/000115_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a318977f730c4613890904ad4406546f283626f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000115_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ed4f4f8448e8fded2c5f3a8a6216cee85618e78c39db7b7f49b5ccd71f004cb
+size 65364
diff --git a/redirect_red2green/episode_0002/colors/000116_color_0.jpg b/redirect_red2green/episode_0002/colors/000116_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..73b15679caab49136d6176953584ffccceb9add3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000116_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e32ee83c93cea5b4e253bcf1e6e25f3306d7c052345358634844d4a811e692
+size 197009
diff --git a/redirect_red2green/episode_0002/colors/000116_color_2.jpg b/redirect_red2green/episode_0002/colors/000116_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d7aa610c4fc2f9f76cbdbd05dcbcfe960c195a03
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000116_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617df1293db16ee45a936fcdee4bcf0164c834d4f2e810072c5898fae8d99b00
+size 65865
diff --git a/redirect_red2green/episode_0002/colors/000117_color_0.jpg b/redirect_red2green/episode_0002/colors/000117_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a9ee8a96c5a5bdd53a9b7257138747d3550bf893
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000117_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f2e9930fd571a5c33c8d3759a348f92c4595e5be9220f146434ce91342caef
+size 196100
diff --git a/redirect_red2green/episode_0002/colors/000117_color_2.jpg b/redirect_red2green/episode_0002/colors/000117_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..28eb86edc1a477cfcea917209e1c96c34341398d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000117_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc05d0da5e221b9e0f12e37c4f2924f32c6c60a6f051e176c17bb0424dec412
+size 63980
diff --git a/redirect_red2green/episode_0002/colors/000118_color_0.jpg b/redirect_red2green/episode_0002/colors/000118_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aaaf4e14d6fc49ec15ad0c51be4c13e735a3ae4a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000118_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933c0ec7764d1aa253ae52606b096e36634ee39366b80a960949801c910dc429
+size 195701
diff --git a/redirect_red2green/episode_0002/colors/000118_color_2.jpg b/redirect_red2green/episode_0002/colors/000118_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e17e5771cea537bea751cd478088e5e7f0398167
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000118_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa726316242315456a932aacadfea7c0541ee2417bf1dd6b2a71143ebf22fdd6
+size 64726
diff --git a/redirect_red2green/episode_0002/colors/000119_color_0.jpg b/redirect_red2green/episode_0002/colors/000119_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bc7e49307aeb3993e918dfe82941f04f47f4e2d1
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000119_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb651ebd94e68bcaef303a655a82da2c1421e623d23152e5fc1206074efc6f2
+size 195541
diff --git a/redirect_red2green/episode_0002/colors/000119_color_2.jpg b/redirect_red2green/episode_0002/colors/000119_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e051c79619e46b2a828332a88c921477164925ee
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000119_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7fe9c89e3d1e7b4b5a839687821c1dea2487109ffc459a107ccd65b0265348
+size 65222
diff --git a/redirect_red2green/episode_0002/colors/000120_color_0.jpg b/redirect_red2green/episode_0002/colors/000120_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..95fc9754a66d39250ce46cd6bb6125ef72ae8e03
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000120_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3c9e869f2d7ab07fdf96e9cf6376ca5eb47a9e5e9e23f79a60a32a6148fd8c
+size 195035
diff --git a/redirect_red2green/episode_0002/colors/000120_color_2.jpg b/redirect_red2green/episode_0002/colors/000120_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c8b66a165efeae66991c4e8155305a82d59fb644
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000120_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd05e7136fc0bef9170129161cf25145abfc47a5792a776c78d2cc25f122596
+size 64230
diff --git a/redirect_red2green/episode_0002/colors/000121_color_0.jpg b/redirect_red2green/episode_0002/colors/000121_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8138fc531b16cdd077b75f7448476f9043fab428
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000121_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b32a28deb8e6aab614d2ce82d91a03aca929f99aaf192f7d5542888424a3c8b
+size 195175
diff --git a/redirect_red2green/episode_0002/colors/000121_color_2.jpg b/redirect_red2green/episode_0002/colors/000121_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9b430e84e76d88ae60e4f384d0d0eb0027b12539
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000121_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:719fb30ad748e0e0224f9b0da3f9036c42c2cd6ed6a20e7e0439e739a146a1b1
+size 64476
diff --git a/redirect_red2green/episode_0002/colors/000122_color_0.jpg b/redirect_red2green/episode_0002/colors/000122_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5fe29fd97ad3e8e297bb1165d2be991a8eb69163
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000122_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69dbbe90a0f5f367da6735123be71b133bfac56587d588ed3703ebd386493a31
+size 197014
diff --git a/redirect_red2green/episode_0002/colors/000122_color_2.jpg b/redirect_red2green/episode_0002/colors/000122_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..65ac175b4a0763ba7b8254379302988544269a5c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000122_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012d3f430556a2943600a5a99480abc23aa9cd5a8f398e64e5334a822b907b2d
+size 65405
diff --git a/redirect_red2green/episode_0002/colors/000123_color_0.jpg b/redirect_red2green/episode_0002/colors/000123_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..03056949d9619123166aa5a86e0bccdaa3c57708
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000123_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d19de07b9dd15cf7068c31a55221209dd822b58402ecb353f61acc3e04168e9
+size 197912
diff --git a/redirect_red2green/episode_0002/colors/000123_color_2.jpg b/redirect_red2green/episode_0002/colors/000123_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..150a7e6588e9e62a138b145170106d87609db61e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000123_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5597fb5e2794034eb03904e7c07f8ac2b5a8919eb14da7337d57ba72265738a3
+size 65811
diff --git a/redirect_red2green/episode_0002/colors/000124_color_0.jpg b/redirect_red2green/episode_0002/colors/000124_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5e9aa68bc58c15bddf8bc3ed86bde78a0c883d1a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000124_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953ed481494c5bc53b68dcddeab162a5b3e0acfa3fcc5975016bd77584830d18
+size 197550
diff --git a/redirect_red2green/episode_0002/colors/000124_color_2.jpg b/redirect_red2green/episode_0002/colors/000124_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4834c44e61f226d774f982fa6a397a5ba365d68e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000124_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbb47881734ec10c7952153c41bc04c89eb922379e93b838ecd767c4c488120
+size 66470
diff --git a/redirect_red2green/episode_0002/colors/000125_color_0.jpg b/redirect_red2green/episode_0002/colors/000125_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6837daf1e9206ce2f9d0954849800a16a512470d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000125_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6303a05b76625ec397b1c58841364c3c0618e2b0cbae182aa100e8ab53cf89
+size 197032
diff --git a/redirect_red2green/episode_0002/colors/000125_color_2.jpg b/redirect_red2green/episode_0002/colors/000125_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3fa43fb431397dec0613907a217e00f99d33bda3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000125_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7214bedfe51c626f2243b5f94c78ace529095ddbbad070a3e179541430e00fdc
+size 67045
diff --git a/redirect_red2green/episode_0002/colors/000126_color_0.jpg b/redirect_red2green/episode_0002/colors/000126_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..38c82c8a083c27b13c0aef813c82a31c2376aaba
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000126_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859a00a09378b00823df11503b3db328fd460944bb71ac6c0fcda9f99e6da766
+size 197379
diff --git a/redirect_red2green/episode_0002/colors/000126_color_2.jpg b/redirect_red2green/episode_0002/colors/000126_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bc7c8ae0cb035741df8e0d9708712e67e3995b0a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000126_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11c8c43d1f0eee6f99be1d8c8bf928c5604abf6cf95a23842a4a70779d0f552a
+size 67442
diff --git a/redirect_red2green/episode_0002/colors/000127_color_0.jpg b/redirect_red2green/episode_0002/colors/000127_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f49e3946fae8d58c7ac796190e066b7454bc1215
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000127_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96791f0f916bf0b54bbcf5033a5b52613ff8d51cfa27017e47b79e99462aa8ce
+size 198454
diff --git a/redirect_red2green/episode_0002/colors/000127_color_2.jpg b/redirect_red2green/episode_0002/colors/000127_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..621701854fd66888ebdb6b5420bcce31492ae3c1
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000127_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8747096ab4bc4277df862638045d66311e390a953f32cd8d35df51f568d5273d
+size 67765
diff --git a/redirect_red2green/episode_0002/colors/000128_color_0.jpg b/redirect_red2green/episode_0002/colors/000128_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7dc4e4aa946ee2416e19a1839303c1e23d32ba51
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000128_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2516924653aacf01f969c5bce4e92f879ffe9f5af330effe71f7dc55da90d9a6
+size 200282
diff --git a/redirect_red2green/episode_0002/colors/000128_color_2.jpg b/redirect_red2green/episode_0002/colors/000128_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..64db597d50a58568bf2cf7da6ebd9ccf0c8bb737
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000128_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbba930114d170711522690fa002e20ad3d37824c70ad2664f9a3e12cc507766
+size 67987
diff --git a/redirect_red2green/episode_0002/colors/000129_color_0.jpg b/redirect_red2green/episode_0002/colors/000129_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fba88d0f1fee6c78dcda5e9b92e3da0106d1e30e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000129_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c64f640e36ecd5d86046aa1cef2a6c0130559fd60f6ad5e02a46c8782aede15
+size 200863
diff --git a/redirect_red2green/episode_0002/colors/000129_color_2.jpg b/redirect_red2green/episode_0002/colors/000129_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fdee42ffc67695772cda7c9e02d886b9302ee687
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000129_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e94449e8b2cd7e26946d9400fa184693994d09a6889c1bcce4e02289eb6547f
+size 69361
diff --git a/redirect_red2green/episode_0002/colors/000130_color_0.jpg b/redirect_red2green/episode_0002/colors/000130_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b1f125bba6c651ca598d659b91032c860b1e0c35
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000130_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a84ee8d66c09bcd93f2120d89ea43a9805b77d5163b3f332ed839705c962107
+size 200897
diff --git a/redirect_red2green/episode_0002/colors/000130_color_2.jpg b/redirect_red2green/episode_0002/colors/000130_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f0dbea181645197037c94b3b239dcc6330cca851
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000130_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:022c02d62b997fc411b4c7b0a424e93bcb9687c81a7c46113570138db6cb7778
+size 70141
diff --git a/redirect_red2green/episode_0002/colors/000131_color_0.jpg b/redirect_red2green/episode_0002/colors/000131_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8413c1b54ee89a02e6f11548ea8386495bdf6476
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000131_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef143effd427444c4697911eff7600e11b90d6dfac3ea2bb0d3e404418b9a634
+size 202859
diff --git a/redirect_red2green/episode_0002/colors/000131_color_2.jpg b/redirect_red2green/episode_0002/colors/000131_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d12ec64564e37de00f9642f5f5718fdb2cfa22ef
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000131_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47ff4b6392735b6ea4f97f844f1627de7d548f56a3de1c0a8f296d7f07a29757
+size 67854
diff --git a/redirect_red2green/episode_0002/colors/000132_color_0.jpg b/redirect_red2green/episode_0002/colors/000132_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bf01e505bdd3457f802fe2e429ed405ba11f140c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000132_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547f6b25a7a7167bc2c45294d5eb4a05633f48b5255f3f8275eede71f121de4a
+size 206702
diff --git a/redirect_red2green/episode_0002/colors/000132_color_2.jpg b/redirect_red2green/episode_0002/colors/000132_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..311c2e984a70251b66eb3ed1f3345a9f847faa76
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000132_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f209f6417e36158e4b600c3e801888b626b0cc4f385dbb620b712291de372f88
+size 66086
diff --git a/redirect_red2green/episode_0002/colors/000133_color_0.jpg b/redirect_red2green/episode_0002/colors/000133_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d0684284c2e10425c487cdd1bacc44994fae4c2e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000133_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b226f6994bc814b5554d8bce6b485ea8cf67e274fc8dfc96d35d922d054d797a
+size 216205
diff --git a/redirect_red2green/episode_0002/colors/000133_color_2.jpg b/redirect_red2green/episode_0002/colors/000133_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..16786979ce5e1f018ae5d4f049404fe55994309c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000133_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104f37bfad2988df1fe393ea8685037fd890ad960915e4518c3fb3ecf31929b4
+size 66092
diff --git a/redirect_red2green/episode_0002/colors/000134_color_0.jpg b/redirect_red2green/episode_0002/colors/000134_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5d2710125f1832337a17d2b549d2dd580bac1774
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000134_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aefe02244fc5a54199ae6888688c4cff0ea279e8cc22c6c6a4fa30e56e52b56
+size 215207
diff --git a/redirect_red2green/episode_0002/colors/000134_color_2.jpg b/redirect_red2green/episode_0002/colors/000134_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..55e2977bfc4a9dd55f8ea273529c0490609e61a2
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000134_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6dfc82e80f9d972e79c5ff35a4557e5b9df0dd69ec96397fa817f1fb717886
+size 65678
diff --git a/redirect_red2green/episode_0002/colors/000135_color_0.jpg b/redirect_red2green/episode_0002/colors/000135_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8a3be3e20e513a031324b02e257109b1b7e97586
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000135_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612cad1d86641c3ffeb14c848780c7035fed0cb783d880c729a779f4244e2bef
+size 204465
diff --git a/redirect_red2green/episode_0002/colors/000135_color_2.jpg b/redirect_red2green/episode_0002/colors/000135_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cc5cd534e7945873b4dca4235696804456abf5ca
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000135_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:898959819a99682d59d7e46263cd6467d7938144b0c8031327d39b117ac22d38
+size 65008
diff --git a/redirect_red2green/episode_0002/colors/000136_color_0.jpg b/redirect_red2green/episode_0002/colors/000136_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d1ed1837d4e24dfdf63cbb98d7392ad1971d55e7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000136_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd20b8e2218a4953c8fbbfd12763722e1354dc3d2a8dd0c028c241d8388d92e8
+size 202140
diff --git a/redirect_red2green/episode_0002/colors/000136_color_2.jpg b/redirect_red2green/episode_0002/colors/000136_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bf5d0d3e053cd1cdaf3983adc02312f64f0fa4d3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000136_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9c08d07bfaf84f24e87a3fb0ea73ceceadc4e663ba930f7e55d82f8490c958
+size 63844
diff --git a/redirect_red2green/episode_0002/colors/000137_color_0.jpg b/redirect_red2green/episode_0002/colors/000137_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c0a5fa4021145eafc8027024a1a27059537cc15
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000137_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b66712d7d232d40f21fe8579e846ecb9d4296f30d2ab1ed2288566578174d62e
+size 198659
diff --git a/redirect_red2green/episode_0002/colors/000137_color_2.jpg b/redirect_red2green/episode_0002/colors/000137_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b9ff1c69da5a768bfab358a58f6a767e6333387c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000137_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4279ebf2bd7f3cd4a6284fb13f28232868c39dc887785412aa62838098f65d5d
+size 64487
diff --git a/redirect_red2green/episode_0002/colors/000138_color_0.jpg b/redirect_red2green/episode_0002/colors/000138_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..866e4944bfbb7af52f7cf922f243f3f86978992b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000138_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29a6d40af5c8db7dcb3c34e9a7c682915b69b4a325676e965cb9b5e6248ebe27
+size 195459
diff --git a/redirect_red2green/episode_0002/colors/000138_color_2.jpg b/redirect_red2green/episode_0002/colors/000138_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb3f01aafddc78079066734f9aa0b1d5556ae5de
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000138_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35882a6762baea4fff05071d97406ad256b98fb9259aac8bf2a6ee5066077d45
+size 64940
diff --git a/redirect_red2green/episode_0002/colors/000139_color_0.jpg b/redirect_red2green/episode_0002/colors/000139_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..26eaece6c6f53eed573dae8cf726a81a106506de
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000139_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a113bbd4a3b9646425562bfa97b0d9066f609fbe374cd2bc12f883f4e138efc
+size 194771
diff --git a/redirect_red2green/episode_0002/colors/000139_color_2.jpg b/redirect_red2green/episode_0002/colors/000139_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..47f7cfdbfe79ffa9d6d768103a0a4be0f34b907e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000139_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff64b8787206ffeb9599296158a9e4a84e3d3aa8be5dabf4d2eefefe1d00abeb
+size 64670
diff --git a/redirect_red2green/episode_0002/colors/000140_color_0.jpg b/redirect_red2green/episode_0002/colors/000140_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6c8c31a0b31b7088bb5192a0c862587a1fb8c79d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000140_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7616b3c170ec6ec3a42a3c69a3706224132f534766de20c4ebca8ca92183192
+size 193661
diff --git a/redirect_red2green/episode_0002/colors/000140_color_2.jpg b/redirect_red2green/episode_0002/colors/000140_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7fe9c110085bd7076f12d07dfc0cca038c2c18c6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000140_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259041603706ffdfdd55b8aa0cc4cc59ea89a287cb8cc5ef565fd97034e427cc
+size 65584
diff --git a/redirect_red2green/episode_0002/colors/000141_color_0.jpg b/redirect_red2green/episode_0002/colors/000141_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..62352b0b8a592bc4966a860b3da88f87e7905795
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000141_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a50af30730aff362fb99891257f8bec70220c26f19ade6535e567b00597f9c8
+size 195463
diff --git a/redirect_red2green/episode_0002/colors/000141_color_2.jpg b/redirect_red2green/episode_0002/colors/000141_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aafb50a5ab9f6ac18e60d76736474344c60e11f7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000141_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804a982eb2a4d4591e801234ef4d6c726f8a6c427cffd4f295bb74c9d6d1c0ad
+size 65059
diff --git a/redirect_red2green/episode_0002/colors/000142_color_0.jpg b/redirect_red2green/episode_0002/colors/000142_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6df44c8193c74931c05d2faad12550292855ebf9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000142_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68b14af94a62cf93c73b3c5ce09e25e70c98a3b30699d70b88b1563c56e7702e
+size 196651
diff --git a/redirect_red2green/episode_0002/colors/000142_color_2.jpg b/redirect_red2green/episode_0002/colors/000142_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..18614e4e836b8e24480023530463cc8c2370810c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000142_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b82bddb1ff03abdd78520b3ead55f62e94246030118163f7f8b9653534c1b470
+size 64821
diff --git a/redirect_red2green/episode_0002/colors/000143_color_0.jpg b/redirect_red2green/episode_0002/colors/000143_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..632edac5ac3c8a237e90071cf4b3d822a8e92178
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000143_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60a6dc23ced8ebc6f1d408ed791057b4072c16ad0575aa5040b005c0af1ed888
+size 198752
diff --git a/redirect_red2green/episode_0002/colors/000143_color_2.jpg b/redirect_red2green/episode_0002/colors/000143_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9ae5d0025552ea3a4c6ca7c77feddbf06c91befc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000143_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d6f4460036465f30340c72c9ed706bbeebb9a9674aff35210fe6a6a4eec66c4
+size 65165
diff --git a/redirect_red2green/episode_0002/colors/000144_color_0.jpg b/redirect_red2green/episode_0002/colors/000144_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..383f78d41686db4be10841c0f979599002b08ab1
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000144_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db31391ed4c7e1d682ea501354ba1215596f7784e5aa8fb1455a6efa4704a1f
+size 196551
diff --git a/redirect_red2green/episode_0002/colors/000144_color_2.jpg b/redirect_red2green/episode_0002/colors/000144_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b9cf7a34a960225b88c81210f14e5ec79feb693e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000144_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39261b1666e2641e861b35b7c214dba85df3375de605d857c5cf48b56a523529
+size 65599
diff --git a/redirect_red2green/episode_0002/colors/000145_color_0.jpg b/redirect_red2green/episode_0002/colors/000145_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f7d9d27fcc0e3f826c99dfcc5ea52b1e76e6fc1a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000145_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb21d0e1e92021beb192a100e638f0852b9428fe12a86c69963b72255ead82de
+size 194193
diff --git a/redirect_red2green/episode_0002/colors/000145_color_2.jpg b/redirect_red2green/episode_0002/colors/000145_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ee0aaa24bc656faea5c640b5344a516541679c73
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000145_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79040e7ee44d814df6aec50a7a5e5a85e4bf7a10431cd2d6892e5a6b8ae420a
+size 67935
diff --git a/redirect_red2green/episode_0002/colors/000146_color_0.jpg b/redirect_red2green/episode_0002/colors/000146_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..54e4d945118676cbd833c49a4122a6fca9c62135
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000146_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab65e42d426a40805f2cfe0fcc21964adb61a0d35d2c4df90c99f7bba6248f8b
+size 192804
diff --git a/redirect_red2green/episode_0002/colors/000146_color_2.jpg b/redirect_red2green/episode_0002/colors/000146_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..81a84df1bef0cb769217d47a1aaca7d7afb9d057
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000146_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e8af99ba9dcbb1c8be4bacac8c7ce46b340d667e616605f1441f1dfb9d5346
+size 68273
diff --git a/redirect_red2green/episode_0002/colors/000147_color_0.jpg b/redirect_red2green/episode_0002/colors/000147_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..62a215bc2f7c500aa2ded27f5dbe4c497d0a2c38
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000147_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cfaa3542260e1d0b2871f4753696aac84b8d8666562302ca8f4c750c421f38c
+size 193018
diff --git a/redirect_red2green/episode_0002/colors/000147_color_2.jpg b/redirect_red2green/episode_0002/colors/000147_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..72b26659e8f1031d95847915861c4ffb6af68d6a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000147_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ba92b975cc3c4323285030f3bf523450106f0f4063ad0f1cfb03e2d6f08732e
+size 69076
diff --git a/redirect_red2green/episode_0002/colors/000148_color_0.jpg b/redirect_red2green/episode_0002/colors/000148_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..37cffb32588641e2ed6f8f9deac923315302d7cd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000148_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24784a6a44247e6252686601c5f5a1f8f4659ee5bccafac635447b34d90b0f4
+size 194158
diff --git a/redirect_red2green/episode_0002/colors/000148_color_2.jpg b/redirect_red2green/episode_0002/colors/000148_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fa04751d4ed307eb42c2cb3899ad68cc0ace20dc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000148_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:539a1ba91649a2bc96c31bfa5a3f96233f724713ae7a6bbdf815e369d6727af8
+size 69680
diff --git a/redirect_red2green/episode_0002/colors/000149_color_0.jpg b/redirect_red2green/episode_0002/colors/000149_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bb65f7066b898562d9c4de13dfaaed3082a7d2b0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000149_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b6e6e920ad587050b41789f30192159826ea8a768ab15d400dd95f8026dd2d
+size 192172
diff --git a/redirect_red2green/episode_0002/colors/000149_color_2.jpg b/redirect_red2green/episode_0002/colors/000149_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c685a89c81e71fe2b51c3c89784089548a5cb0f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000149_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7809bb7f1afb808dbd8e79bacd4b18c86f765a9b05c39a01139d4d7a5b809e3
+size 70343
diff --git a/redirect_red2green/episode_0002/colors/000150_color_0.jpg b/redirect_red2green/episode_0002/colors/000150_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9eb8a560bd3e2c26b80f9b34de590c1f85a349cb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000150_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7fecb4978b3ee00069a88149eaf990eff13241656ac98463cf0d03e40e9fd0
+size 196448
diff --git a/redirect_red2green/episode_0002/colors/000150_color_2.jpg b/redirect_red2green/episode_0002/colors/000150_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4f963fa62eb1675e2df6860ccf01019671bcf383
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000150_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d635544ce38e796949d4892460539cd544fd8ac49f869a9ddcfb8f93ce73e4
+size 68207
diff --git a/redirect_red2green/episode_0002/colors/000151_color_0.jpg b/redirect_red2green/episode_0002/colors/000151_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..80b1a39e6757d539261986d09050d3660524daa3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000151_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b382d705ba1bb77dca55dec9f3c23b7d3ce82987c778b134f8c3711c35b60a
+size 198879
diff --git a/redirect_red2green/episode_0002/colors/000151_color_2.jpg b/redirect_red2green/episode_0002/colors/000151_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..feb3509359ff091025f9f762d2cc5be4d729d146
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000151_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eec1be50c94017593b6bae51b4c20475aab074528eca66ca4d95077dc0360093
+size 63482
diff --git a/redirect_red2green/episode_0002/colors/000152_color_0.jpg b/redirect_red2green/episode_0002/colors/000152_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cbf78f05e79214570c7bda2f608dc7cc72fd8c55
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000152_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b185d1c8f2ac0106471a5925a1be874a2919b11bceb1890f5268d7c6b13fa9d
+size 200144
diff --git a/redirect_red2green/episode_0002/colors/000152_color_2.jpg b/redirect_red2green/episode_0002/colors/000152_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3c4505bda51880fbd46ce658db216f8cd2739ff5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000152_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac1de83142af68b17ab822954090cc79ff4559d5b2305f9c0c6ffda88ae13ad9
+size 59404
diff --git a/redirect_red2green/episode_0002/colors/000153_color_0.jpg b/redirect_red2green/episode_0002/colors/000153_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1cc95a49a9e4a87368966ad182f9e4a6ef47ba60
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000153_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced9a5242b9894d8e064e6f5f6cec5d3fc5dd2a6cf82f42770c4131112b6c961
+size 200090
diff --git a/redirect_red2green/episode_0002/colors/000153_color_2.jpg b/redirect_red2green/episode_0002/colors/000153_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ed42d924df938cf82c6bb523a6b6320ab321afee
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000153_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aaa178267cb4a23a4f547afec0daea5f687028eb7767584769f02774838dd95
+size 57936
diff --git a/redirect_red2green/episode_0002/colors/000154_color_0.jpg b/redirect_red2green/episode_0002/colors/000154_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..956cfe1f9ed93eab3e1775a17efe184b93d68d48
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000154_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87651d3f1037fddce5a07134ae3d1480b1e26bf2a01a4306fe4eee12f7a8db71
+size 199288
diff --git a/redirect_red2green/episode_0002/colors/000154_color_2.jpg b/redirect_red2green/episode_0002/colors/000154_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4276aa76d2dbf0d68e8227905fac87df87d3872d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000154_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b4b2902e7cb7f9a636e270a2f6d6d4a95b749499f0c592993e7b76fd820e8c6
+size 58676
diff --git a/redirect_red2green/episode_0002/colors/000155_color_0.jpg b/redirect_red2green/episode_0002/colors/000155_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a55e18db44b45647b7b0019e702a78a131d7773a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000155_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85751c6cc93c7e72910638dc5199a62a2cbce89069d17a24644511209ad6b7bb
+size 195994
diff --git a/redirect_red2green/episode_0002/colors/000155_color_2.jpg b/redirect_red2green/episode_0002/colors/000155_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7e9daa87ccf2d9c170b44b166c9d2f2183fc659a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000155_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4ae1b1b1a5c59a629ffddd953c38f2f9ada1b69061b14727b7f7257d4ca433
+size 59003
diff --git a/redirect_red2green/episode_0002/colors/000156_color_0.jpg b/redirect_red2green/episode_0002/colors/000156_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1e7235001afca1ebaf1212a2014a8fe89dabf9a3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000156_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b777f331880a6b03d456eeb1f576fcc1b723054797a2163b714c36f5ef2fd0a
+size 194397
diff --git a/redirect_red2green/episode_0002/colors/000156_color_2.jpg b/redirect_red2green/episode_0002/colors/000156_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dd316530e3965c27364cb03442b1cad6be68361d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000156_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcffe6b427f7af9e97599c636c19c5a57fbf25442a0992d2cb4deab7fc40bb32
+size 59836
diff --git a/redirect_red2green/episode_0002/colors/000157_color_0.jpg b/redirect_red2green/episode_0002/colors/000157_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..335f26f2bf0ef3140604a6a66a21a0602943eb9f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000157_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc3a2c35ca6afcea538a72e414b7119f76fa3f48cce361c9b6b3089357ebe7b
+size 194126
diff --git a/redirect_red2green/episode_0002/colors/000157_color_2.jpg b/redirect_red2green/episode_0002/colors/000157_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e17cfd77bf11f4c57349446e0903ca60a5269e77
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000157_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a33e42572249c5f0e5992f8c473c4b47db28fea30a9e8cf5537c7c4acea1686
+size 60493
diff --git a/redirect_red2green/episode_0002/colors/000158_color_0.jpg b/redirect_red2green/episode_0002/colors/000158_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7d8789b5a1127cc75c1e7ff7fd6d89d5fd2c3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000158_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245955d472c8f5390ae4bfc1d73da2b23e42583fcedee72979418b3784641168
+size 193839
diff --git a/redirect_red2green/episode_0002/colors/000158_color_2.jpg b/redirect_red2green/episode_0002/colors/000158_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2b766f3bb6ffd50fe98f21c590d920aa660fe78b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000158_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb5d2dafc53149c2f063a3e3cbca8c63334483affbdbf562149100f13c15965
+size 60425
diff --git a/redirect_red2green/episode_0002/colors/000159_color_0.jpg b/redirect_red2green/episode_0002/colors/000159_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f79ad63b8028a9840072344b7b5e2fa68b4f5eec
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000159_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbb3a1d2119306e4c81c36fa725eec364e2a0288e331131e65548a87e2cafd1
+size 192590
diff --git a/redirect_red2green/episode_0002/colors/000159_color_2.jpg b/redirect_red2green/episode_0002/colors/000159_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1b64d4867265347a5ff36a7c3cbb12e14a388622
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000159_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840188790caf64040a129b6a139162a644491fc6252f58c953746761be5c3bd7
+size 60330
diff --git a/redirect_red2green/episode_0002/colors/000160_color_0.jpg b/redirect_red2green/episode_0002/colors/000160_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..50b1d9db646a0f499a18db297d4e4104692f9a3d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000160_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c57e2dda42addf8bfc2898fa6012c3c3f037bdb8e35fd3889b2de1e018338a9
+size 193154
diff --git a/redirect_red2green/episode_0002/colors/000160_color_2.jpg b/redirect_red2green/episode_0002/colors/000160_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..13cd8dd94d1e4206dd43a771ada11842490d47cb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000160_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0feb8290727b3105825aa7198aa212ef18e7dc91df29e3da3a84639103a2543b
+size 59416
diff --git a/redirect_red2green/episode_0002/colors/000161_color_0.jpg b/redirect_red2green/episode_0002/colors/000161_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8465112c913ee45cc3276f58c2786f92ae0539d4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000161_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40507b24dd214c890570d0027cc563535adfc108aa6b3f7e92f43e94d60b33c7
+size 190376
diff --git a/redirect_red2green/episode_0002/colors/000161_color_2.jpg b/redirect_red2green/episode_0002/colors/000161_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4446d910ad8485882d8f7871c97466ec96dbc443
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000161_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a1bf45f1352e7aa490289cb966d7955cdf326340c348e8ec2cfde67c4046c48
+size 59305
diff --git a/redirect_red2green/episode_0002/colors/000162_color_0.jpg b/redirect_red2green/episode_0002/colors/000162_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c5b2f05b58541424e25c25126a4063859ca65199
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000162_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f506cd1cf8632776963a12572e20c603f3c970f7e402b43b1c46fbe16d27c62
+size 188401
diff --git a/redirect_red2green/episode_0002/colors/000162_color_2.jpg b/redirect_red2green/episode_0002/colors/000162_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b8430be6317ab360b567fab59d4cea9ed7c0c399
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000162_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb2385fe89934fd2e19305371fc67911751a615dadce6240b5931c58ef86310
+size 59659
diff --git a/redirect_red2green/episode_0002/colors/000163_color_0.jpg b/redirect_red2green/episode_0002/colors/000163_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5d65945f8b52f7480e528e3a3005f7bae7075ec7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000163_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30e796ab3dcb31f20a2619b05e8db57cab60c55dcd4f35b7f087a063955e0ae
+size 190744
diff --git a/redirect_red2green/episode_0002/colors/000163_color_2.jpg b/redirect_red2green/episode_0002/colors/000163_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f171287e2294e5edd5ee7f5eceeaa06d0f9f7e4c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000163_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c87bc1f3fe9324eb7092c7a9f45d7f6b07caeff606bc3e1fcee792c4f4d698
+size 61051
diff --git a/redirect_red2green/episode_0002/colors/000164_color_0.jpg b/redirect_red2green/episode_0002/colors/000164_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..494c1b69c9838a798c1828b59f9fd2bbaa996638
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000164_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549aa12a57f2904c39c990d885c1f773b4154a0e30d2504c3cc06302c2d7900e
+size 192864
diff --git a/redirect_red2green/episode_0002/colors/000164_color_2.jpg b/redirect_red2green/episode_0002/colors/000164_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..45251c8cacac6770ce56f46c6b66689171a8433b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000164_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d569c9f4f9744ef0326aef9a070e1568184116d7195f747d4948e70330056bc4
+size 60743
diff --git a/redirect_red2green/episode_0002/colors/000165_color_0.jpg b/redirect_red2green/episode_0002/colors/000165_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5b1898fe85d723cf68602eadf9b1450a753e59d3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000165_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b445795436964b96e66fbef72f4ace1f18056b5edb0d4b27fa34fb45dccba213
+size 194153
diff --git a/redirect_red2green/episode_0002/colors/000165_color_2.jpg b/redirect_red2green/episode_0002/colors/000165_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..17b706e297d29db0c562c3bbd277e1b726f40d7b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000165_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38238ce9c546c78aa9b1dd711da9b37a9719e9f38c6f26656821206b08ed6e79
+size 61197
diff --git a/redirect_red2green/episode_0002/colors/000166_color_0.jpg b/redirect_red2green/episode_0002/colors/000166_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3f81172cdfba11c2ba3236eea3ac850ab82f6ea7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000166_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb176f2e193fb3ea3177c271d8e810b8ac609e6b9133cce05edcc863a4c59a7
+size 197072
diff --git a/redirect_red2green/episode_0002/colors/000166_color_2.jpg b/redirect_red2green/episode_0002/colors/000166_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ed30ae2c642a786ba7c4d528b43c91d38b60ed30
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000166_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ae8b1f1c816a8cbe1aa916cc939f5f0089f699a152a6ee807547977a3d0182
+size 64110
diff --git a/redirect_red2green/episode_0002/colors/000167_color_0.jpg b/redirect_red2green/episode_0002/colors/000167_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8f2ed615d44dd5ff5cb39098f78ee6b62182e2a4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000167_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a131e2457e3b13ce5e0fe72e7a5d45db62b40a8251e69aed127f7de1a6f6eabc
+size 195181
diff --git a/redirect_red2green/episode_0002/colors/000167_color_2.jpg b/redirect_red2green/episode_0002/colors/000167_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4bd9de3cced87e030faaca260a69d298c8973359
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000167_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d0e8ed1178be2db6d0f7fd3296d17f5e5ae7d1dcd327bb94ef1c19e18d1771
+size 64285
diff --git a/redirect_red2green/episode_0002/colors/000168_color_0.jpg b/redirect_red2green/episode_0002/colors/000168_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..48cc73286514f0d40c03b0027b47b63f6db9750a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000168_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:080c1db67439410cd095f69b4d54e704656b8d6579cbb33211c52da5fc3e5931
+size 195399
diff --git a/redirect_red2green/episode_0002/colors/000168_color_2.jpg b/redirect_red2green/episode_0002/colors/000168_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..594c0aa0a75b337e05d264c663943d3f7a037cff
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000168_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61ff67227ac4856c854335435f5d3ac852ded8dd89664fd89b9073cd31e165f8
+size 65190
diff --git a/redirect_red2green/episode_0002/colors/000169_color_0.jpg b/redirect_red2green/episode_0002/colors/000169_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..40ef6bedd74d17282b894e0b87c31ce9501182e7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000169_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012b143199eba7671944eba0ccfa29aabb8104c9377bb499a04ba591da3a0701
+size 196483
diff --git a/redirect_red2green/episode_0002/colors/000169_color_2.jpg b/redirect_red2green/episode_0002/colors/000169_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5e06813775c0b650755ef2670141af96ce92735b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000169_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcff88fe3fd7b0a66bfacbf9eb5211524c5c0de0d4fb84705b1fe3d7f72dc112
+size 65368
diff --git a/redirect_red2green/episode_0002/colors/000170_color_0.jpg b/redirect_red2green/episode_0002/colors/000170_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2180187d05a8b279f86772ef6fab5f4814a891fa
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000170_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7de76276c861af27e70baa9b0e8eef9c730a64c422bab62ef4ecbf130462e76
+size 197813
diff --git a/redirect_red2green/episode_0002/colors/000170_color_2.jpg b/redirect_red2green/episode_0002/colors/000170_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..154886dbc488c94c607aad7bab3facb753ff4791
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000170_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e1a22fd5a8d89fcac737a183437b695a5d3cb4e8301dbfe2f57000fdbeed25
+size 66937
diff --git a/redirect_red2green/episode_0002/colors/000171_color_0.jpg b/redirect_red2green/episode_0002/colors/000171_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..16766d3050d209b0475d2413fc2e3c3289bd21df
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000171_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6af2347db73b2bd03f243d990bb4cdcb734aaf8ee20e219c2b674a21e471859
+size 199386
diff --git a/redirect_red2green/episode_0002/colors/000171_color_2.jpg b/redirect_red2green/episode_0002/colors/000171_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..106abcc6b80c75e44abafdde12f80533bc0e27d8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000171_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24047f89169ec2481f155bbe80bfccaf270a1b072848aa79466bea4ff45a70c8
+size 68829
diff --git a/redirect_red2green/episode_0002/colors/000172_color_0.jpg b/redirect_red2green/episode_0002/colors/000172_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4113f9666da5add48cb7a5bbd96a6b8c69164adb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000172_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553ba8704bf101647b423172a5ad7e76458479df5c6385eb9d6d2f12bf20d508
+size 200551
diff --git a/redirect_red2green/episode_0002/colors/000172_color_2.jpg b/redirect_red2green/episode_0002/colors/000172_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..073e539d8a14468e04dd2a06ffcfcd1f009eaf11
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000172_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11540602806f5cf4ae67e641144e05d6672bcd7445c65c249f8aa63d3d9bec16
+size 67287
diff --git a/redirect_red2green/episode_0002/colors/000173_color_0.jpg b/redirect_red2green/episode_0002/colors/000173_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b35e8baffa900d7b0fa71356a4b92aada7c3f7cf
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000173_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7362c819a547f95a4e66a34ce55aacb27e6173207d609de8d08d29f0c7ca0e0b
+size 203128
diff --git a/redirect_red2green/episode_0002/colors/000173_color_2.jpg b/redirect_red2green/episode_0002/colors/000173_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e297a4f933cc725692d75d3c462d90a4c31c476e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000173_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafcaa69b11a40265250391de20611a5b03194b8017cca59dd06aa3a942eb945
+size 67874
diff --git a/redirect_red2green/episode_0002/colors/000174_color_0.jpg b/redirect_red2green/episode_0002/colors/000174_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f04d6e745d7fc6b00f2aa7575e354ef7c718df12
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000174_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b564655890a92eeba84c92347c00d3dd1082434bba45b89b09555b027e977d3
+size 204756
diff --git a/redirect_red2green/episode_0002/colors/000174_color_2.jpg b/redirect_red2green/episode_0002/colors/000174_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..123b29fdd7aa99658f3ed0a6a8b9819f96efa594
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000174_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa001d52c30c7697f6fdd5f7e4a3b304b4a155b507b1a92d67e0e6cb21fb77b0
+size 68771
diff --git a/redirect_red2green/episode_0002/colors/000175_color_0.jpg b/redirect_red2green/episode_0002/colors/000175_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0a0b39697c3184bd4abce467610d42fd02ef13b5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000175_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ae073c1446c6f077e195159af293c2a7d365bf69144f5ab9a88c114dd88612
+size 204753
diff --git a/redirect_red2green/episode_0002/colors/000175_color_2.jpg b/redirect_red2green/episode_0002/colors/000175_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6209a1586cc8c97c334564fbd7ad40c4497ab27f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000175_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b5ace5c0b1c911b97a81deffdc92c707b53a2830c13ce1417e386e33a97cb0
+size 68880
diff --git a/redirect_red2green/episode_0002/colors/000176_color_0.jpg b/redirect_red2green/episode_0002/colors/000176_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e64de9c935d90a63ee088fc0940e7dab83b4dc77
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000176_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:043d1d425f7b9e9701099106dfc99042ab6c69f0acfd3d78fb02aced7221e088
+size 204149
diff --git a/redirect_red2green/episode_0002/colors/000176_color_2.jpg b/redirect_red2green/episode_0002/colors/000176_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cbb3d1b30090a8fd237b5d49df816417d2fad053
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000176_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59dbe562324ee5e95717d5b994e99af7929c252ca6319301ab00b521141f108
+size 70736
diff --git a/redirect_red2green/episode_0002/colors/000177_color_0.jpg b/redirect_red2green/episode_0002/colors/000177_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0e3f79d3203534e8f93780e7a8b6d8de40e64dbc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000177_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bcaa16c9f53f99dfaa180019a11a6043633717f0e5e46c134c06c04d6adcb45
+size 204064
diff --git a/redirect_red2green/episode_0002/colors/000177_color_2.jpg b/redirect_red2green/episode_0002/colors/000177_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ce6adb454806c6d977ba983cdb1095f81e0a66bd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000177_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4d0fb094993b1f9e8e2ae9eaf644ca73bc4ad7c811d767105667f472fc3d8b
+size 70751
diff --git a/redirect_red2green/episode_0002/colors/000178_color_0.jpg b/redirect_red2green/episode_0002/colors/000178_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f4b24317e35d397b704d0a22a047de0dcab20939
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000178_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7664d51330e99738b02c072b1df9f1b9ef331404c60b8d9802c84f28244f1304
+size 201389
diff --git a/redirect_red2green/episode_0002/colors/000178_color_2.jpg b/redirect_red2green/episode_0002/colors/000178_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3e27c20fdec9e6d91c222c73ec62c3d6cadf5015
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000178_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ffd77f6497c189996a4cd6833786bb600dc378456b56856aef7191cd5f83fc1
+size 70808
diff --git a/redirect_red2green/episode_0002/colors/000179_color_0.jpg b/redirect_red2green/episode_0002/colors/000179_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9cdd2b3141a08733e67da8488969a789a155b1ce
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000179_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c29d3adeb6a4989cb377dbcba2c895ab802b9f3ea7a7f0ab652fa931ad5c58
+size 198863
diff --git a/redirect_red2green/episode_0002/colors/000179_color_2.jpg b/redirect_red2green/episode_0002/colors/000179_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fddbf4162838a02ed328ca9916e1cf95bd12b65a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000179_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2bda25becadafdca5f997478b85231f728a4b3acca623377056eb94254993ea
+size 69145
diff --git a/redirect_red2green/episode_0002/colors/000180_color_0.jpg b/redirect_red2green/episode_0002/colors/000180_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b800c92d40accf1a02b3a24803abed5e5c6042e4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000180_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d71b341a6650f05b3f60ae40295953a61613d0aa8367d56eb11ed50bd486035
+size 196797
diff --git a/redirect_red2green/episode_0002/colors/000180_color_2.jpg b/redirect_red2green/episode_0002/colors/000180_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d318125a9a0a324ffbfd3b2ee4fa9c2e567dc1a6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000180_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc08f2a5fe2e63abfd437bece69dcbd7157cf9e6b90a803d4335db8eda4c33f
+size 69305
diff --git a/redirect_red2green/episode_0002/colors/000181_color_0.jpg b/redirect_red2green/episode_0002/colors/000181_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..222f695bc584424a72660bc8965897a4981d2eac
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000181_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b4cbd23442beb8a46743137424169f650728b5a3ee75ca0a7af1499b3d8079
+size 196027
diff --git a/redirect_red2green/episode_0002/colors/000181_color_2.jpg b/redirect_red2green/episode_0002/colors/000181_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3d23eefdab08cfe78cfc1cb4ac64078a0396bd8b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000181_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b4e34d17a275c559bc0e95db107ec48058905c3d96b5f8e1887598f994d216
+size 68983
diff --git a/redirect_red2green/episode_0002/colors/000182_color_0.jpg b/redirect_red2green/episode_0002/colors/000182_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5ba6e94082074d04d058680758b80001df371b45
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000182_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fa557b6df2cfaf0ebf6d0d3121ae7928ddb0e59d54a6f9394e6e76b4a26068e
+size 196983
diff --git a/redirect_red2green/episode_0002/colors/000182_color_2.jpg b/redirect_red2green/episode_0002/colors/000182_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a8469b7b9f1349c1379635b51124b2c030a4b78e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000182_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae48cba96148f05bf6999c098fc7117470b872d3155133f8c40fe745f7a386f
+size 69890
diff --git a/redirect_red2green/episode_0002/colors/000183_color_0.jpg b/redirect_red2green/episode_0002/colors/000183_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ecbfa267edf3d59c45c1e5fc0a7f8c5161021fc6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000183_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a80e760c5929c3bfdf06c61be7a51f9d33a6335565406d87f7bbc02e8e46418
+size 197030
diff --git a/redirect_red2green/episode_0002/colors/000183_color_2.jpg b/redirect_red2green/episode_0002/colors/000183_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..514d9f20dc48d47ee37d95a47283af3eb77da722
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000183_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f624b3bb72bbdabfa9c8246f4889f7013db6661f37020c3897fffd72ec30819
+size 70498
diff --git a/redirect_red2green/episode_0002/colors/000184_color_0.jpg b/redirect_red2green/episode_0002/colors/000184_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..99a85c05c9e4b801d23f6c515891a5b83c4eb573
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000184_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1614037f03df027b37fd01e3ac82ba13da38e24d62c406ae2478b1de8ea766
+size 196945
diff --git a/redirect_red2green/episode_0002/colors/000184_color_2.jpg b/redirect_red2green/episode_0002/colors/000184_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4e99e2b7b75550d76cac7e6351e8b1b52231b945
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000184_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc8fbc6bec5a05e2334171266d8d03447cbc4b7601ba1d67ace3d6fd81cf3ba
+size 69946
diff --git a/redirect_red2green/episode_0002/colors/000185_color_0.jpg b/redirect_red2green/episode_0002/colors/000185_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1b4c5dd028fb1114eaf035e698201612fd50083a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000185_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9a42f8ec42f55a8128e282fd33f03527fd5e21c4bf1d81e5e9b42d96bbfd6f7
+size 196157
diff --git a/redirect_red2green/episode_0002/colors/000185_color_2.jpg b/redirect_red2green/episode_0002/colors/000185_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..68f30a6550b4a8a5abfe7bbcd3eae0b8fd0e31d7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000185_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103769f51de94296db3b5559b193fcbde449903d314d59633625de24e606a284
+size 69701
diff --git a/redirect_red2green/episode_0002/colors/000186_color_0.jpg b/redirect_red2green/episode_0002/colors/000186_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..87bb327760ee59b69eb586e0f2ee3be1ea67d13b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000186_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb7ecde6f2c32e1197fb6d03998c641e36bd24d3aa6d0b0b95da82d37cf807c
+size 197324
diff --git a/redirect_red2green/episode_0002/colors/000186_color_2.jpg b/redirect_red2green/episode_0002/colors/000186_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4449ea21355e526d1682ed8f13dfd2cfbc5e7dbe
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000186_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde6705db990f8ea96b2c1ddbbf519b5c4700dccd31b568a75c563c9c6a84a54
+size 69400
diff --git a/redirect_red2green/episode_0002/colors/000187_color_0.jpg b/redirect_red2green/episode_0002/colors/000187_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7176c7034e4249b9d99a51af80466e0b65632c72
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000187_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c60d40e3af4120873a3d8cc4c94377bf8fc61fd6d0573cee626cec352de967
+size 198884
diff --git a/redirect_red2green/episode_0002/colors/000187_color_2.jpg b/redirect_red2green/episode_0002/colors/000187_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2296e154e0d82b29d1dbfc25dc4bb4396a8556eb
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000187_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bf9809ea6a32f8dddeeac69538e76f705458094e6bccdb19a81b4bd28f8316e
+size 72512
diff --git a/redirect_red2green/episode_0002/colors/000188_color_0.jpg b/redirect_red2green/episode_0002/colors/000188_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ff2b3afbc4829806b225aede6b5241af9f968a97
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000188_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce69011545027fa56516eae4cc24289731442f6b4137759ff1d807f668626c6
+size 199374
diff --git a/redirect_red2green/episode_0002/colors/000188_color_2.jpg b/redirect_red2green/episode_0002/colors/000188_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b62c419c7166cfceee83923f2e1ea73f83139794
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000188_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d001f8ac719717b4526e4c049c37f7d4fb4b9b2d0e8e9a59132eb693e6ccad31
+size 75093
diff --git a/redirect_red2green/episode_0002/colors/000189_color_0.jpg b/redirect_red2green/episode_0002/colors/000189_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..526fb727429eb7af2da33a1d6b3600af7ea20c1b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000189_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:822ad654b1ec76f76030ff1bdff58912bb38160382c19ff652f06db969a3ca2f
+size 199501
diff --git a/redirect_red2green/episode_0002/colors/000189_color_2.jpg b/redirect_red2green/episode_0002/colors/000189_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..04945bae35343338c2fd036c00cd244bd7405d0d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000189_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b8a320c6fdfe9b52b056aaf67a38c847b92526aa2d7c791794483d69b34d31
+size 76168
diff --git a/redirect_red2green/episode_0002/colors/000190_color_0.jpg b/redirect_red2green/episode_0002/colors/000190_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cabf760430b245dfb13690c62845877acc13b06a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000190_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ead3b78ef2d6038992d9d48e409e8747b6c9088c474ab8fc173a0fef7fc5c0
+size 202843
diff --git a/redirect_red2green/episode_0002/colors/000190_color_2.jpg b/redirect_red2green/episode_0002/colors/000190_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0930fe262bd97dbcf54fc84a3f3d18dc827f0179
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000190_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64dd9e8d3621b27d1963180eccb3c566141dfe711528beef41d1b23c78e4c250
+size 79983
diff --git a/redirect_red2green/episode_0002/colors/000191_color_0.jpg b/redirect_red2green/episode_0002/colors/000191_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7bb20bb4357db2d309cf77cc69a31ac3f7150390
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000191_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:332df1654a058f4aa2cd2ef5795532041903f9a3efbe40c2fddf5c4eba2b5b38
+size 204198
diff --git a/redirect_red2green/episode_0002/colors/000191_color_2.jpg b/redirect_red2green/episode_0002/colors/000191_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bfffa4ce31163c09b97f2c56da81837394d3178a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000191_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c583cf6653c33c35ef3167d6dd9b98c3288fc0b18f492e51622d2d84ceca25af
+size 79801
diff --git a/redirect_red2green/episode_0002/colors/000192_color_0.jpg b/redirect_red2green/episode_0002/colors/000192_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b7817ba364529e3adfa8245c4f379a3980ad3663
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000192_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8568fbd90d71ffe368f664d6919179bd165a97c049386adc63e3d3f92b9cffa0
+size 205122
diff --git a/redirect_red2green/episode_0002/colors/000192_color_2.jpg b/redirect_red2green/episode_0002/colors/000192_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7c755837d695c3600f89fcf75755c36771c5edf7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000192_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d378a8eb16d24b746f4c293dc5a551775b9fb90270ff0d7c1bcfec9b0ee93c1
+size 77563
diff --git a/redirect_red2green/episode_0002/colors/000193_color_0.jpg b/redirect_red2green/episode_0002/colors/000193_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..51bf10d0a2c24b7b29f17ce2d139071d1e70e158
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000193_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb21d62fc302c90b620c271001f005d6c246ceec5ffbe8ac0d7eb5b28c9b1558
+size 207528
diff --git a/redirect_red2green/episode_0002/colors/000193_color_2.jpg b/redirect_red2green/episode_0002/colors/000193_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..088f7caeb5259ebcae835e492e4e851560d62657
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000193_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53dd4806e16f0c88890d577527d5b0b351351574598a47b575f4bf333e08a3aa
+size 72456
diff --git a/redirect_red2green/episode_0002/colors/000194_color_0.jpg b/redirect_red2green/episode_0002/colors/000194_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..57844fc9fb9440259ce5cc2ac008fe91a91b490a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000194_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ecbd835af50b371c3db671e877cd3f84147c033741e29c56f7c7476adde437e
+size 211300
diff --git a/redirect_red2green/episode_0002/colors/000194_color_2.jpg b/redirect_red2green/episode_0002/colors/000194_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3741ff0d9e66973606a3997f479e41f9aef9f6c3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000194_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880219c8de5b7d297e4e772e76669ede8c771dbea84066db248b93fb66f7f951
+size 68999
diff --git a/redirect_red2green/episode_0002/colors/000195_color_0.jpg b/redirect_red2green/episode_0002/colors/000195_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..57844fc9fb9440259ce5cc2ac008fe91a91b490a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000195_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ecbd835af50b371c3db671e877cd3f84147c033741e29c56f7c7476adde437e
+size 211300
diff --git a/redirect_red2green/episode_0002/colors/000195_color_2.jpg b/redirect_red2green/episode_0002/colors/000195_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..30e6b14d561b2fb76dd384df64567fae9917c67d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000195_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5925c2f57b0ba233085cf054d2e1ad1666135bb59a0ddc5c2b5b87818fbc7bce
+size 70971
diff --git a/redirect_red2green/episode_0002/colors/000196_color_0.jpg b/redirect_red2green/episode_0002/colors/000196_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..15ea6416aa123e438c2e31211dd6ee036bd72aa0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000196_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f2e254f65b1ff56971bc6d4f1750328b4fc3a15e276fa9ff0b2d470bbfef9cb
+size 211432
diff --git a/redirect_red2green/episode_0002/colors/000196_color_2.jpg b/redirect_red2green/episode_0002/colors/000196_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9cf7365aa15ca2e94fc7299461944b352391fa61
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000196_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5344d8fc2a3e0c5034caaa7a879e31b4b1eb7d1c8fd23872641f570deb46d7b1
+size 69057
diff --git a/redirect_red2green/episode_0002/colors/000197_color_0.jpg b/redirect_red2green/episode_0002/colors/000197_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2a882195b2a2351d42a96b736c652e06deb2dc69
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000197_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:558e541a7c81eb9a99847a1497d2fce48749110724b4243e358412215b07d804
+size 210260
diff --git a/redirect_red2green/episode_0002/colors/000197_color_2.jpg b/redirect_red2green/episode_0002/colors/000197_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a23dff0805a4d7252f2ee38e9a17dddf02522a14
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000197_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0324ce2bd97d2927eacf4745b7fd8684d2cf947a4d617fc77a73191209612b
+size 70627
diff --git a/redirect_red2green/episode_0002/colors/000198_color_0.jpg b/redirect_red2green/episode_0002/colors/000198_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7dae43ddc129d5267a224a1912a284a6e8beaf92
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000198_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91aff87532d5ae614f9947f545f7732a24e79cf9ad7b8c53653f5224fa6e77ca
+size 208851
diff --git a/redirect_red2green/episode_0002/colors/000198_color_2.jpg b/redirect_red2green/episode_0002/colors/000198_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3a7aa5096ee73ffc3bffe97b8687a97780d483cd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000198_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bfc248295600f7283d252285d4c50d2654005f77e717793a81a87cac8d9f82
+size 70403
diff --git a/redirect_red2green/episode_0002/colors/000199_color_0.jpg b/redirect_red2green/episode_0002/colors/000199_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..101b5ee6a3c0286c82f58192841ea53cafd8e5a2
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000199_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbb5384bba8acfc3fde9ba1aaf20a5969e919f1568cbcdbfbc457b6e5413213c
+size 207692
diff --git a/redirect_red2green/episode_0002/colors/000199_color_2.jpg b/redirect_red2green/episode_0002/colors/000199_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3a7aa5096ee73ffc3bffe97b8687a97780d483cd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000199_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bfc248295600f7283d252285d4c50d2654005f77e717793a81a87cac8d9f82
+size 70403
diff --git a/redirect_red2green/episode_0002/colors/000200_color_0.jpg b/redirect_red2green/episode_0002/colors/000200_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6c1d14b84f08516128b6b5a168c5f03d60a5b596
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000200_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2dfa2f72d19d60e0053e13b86cceeb9f98cf320beb9dac4e1a30e9f52f1b39e
+size 207815
diff --git a/redirect_red2green/episode_0002/colors/000200_color_2.jpg b/redirect_red2green/episode_0002/colors/000200_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..88e4ac31e2e56081bf170f93f345c061c8ccd07b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000200_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec803c47fc119f28628a9113c2d62a8c5de3489c2c852e4313b977084d44df3
+size 68430
diff --git a/redirect_red2green/episode_0002/colors/000201_color_0.jpg b/redirect_red2green/episode_0002/colors/000201_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bef0b55225f578c59be0605bc591ff3e68d11a84
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000201_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2930267d1dedb94bbf0cf80d3e002e93a2c4473995a68fac4c9887c7986e9fad
+size 211693
diff --git a/redirect_red2green/episode_0002/colors/000201_color_2.jpg b/redirect_red2green/episode_0002/colors/000201_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7a0e1f95f6a07987101fa5295d991033669945a5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000201_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796d85eb5e6ee8d4076cebfb79585df933ad56745d460cf9281e81e23f030dad
+size 67306
diff --git a/redirect_red2green/episode_0002/colors/000202_color_0.jpg b/redirect_red2green/episode_0002/colors/000202_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..746c5c38af0b78abe053130fa0f432c10c1ef597
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000202_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4873ed33d053dac63a6a4cf9aa4a2112b832b507158da29bf5687e1e75443a6
+size 208563
diff --git a/redirect_red2green/episode_0002/colors/000202_color_2.jpg b/redirect_red2green/episode_0002/colors/000202_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ba5b57c53183cd6c2e36ab49906beeaa7feccd6d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000202_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c98b3e13727d60cec744cbc120c112bc87dc3cfc8a820726ed6cd82a10f61f4
+size 67264
diff --git a/redirect_red2green/episode_0002/colors/000203_color_0.jpg b/redirect_red2green/episode_0002/colors/000203_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0006b128c52c248a60d8c3061d9b72220cb36781
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000203_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e1d3a9cebabe3b3bc78ee51d7c54643269f44885cf9eac83cb8e85f05234f3
+size 208884
diff --git a/redirect_red2green/episode_0002/colors/000203_color_2.jpg b/redirect_red2green/episode_0002/colors/000203_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..65c97744e0232f0a101b4b358896ae44d8260b2b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000203_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92dd623e474067a7f20f699a97d3dd95b1c9aa212da7de03c238132eec51f356
+size 67896
diff --git a/redirect_red2green/episode_0002/colors/000204_color_0.jpg b/redirect_red2green/episode_0002/colors/000204_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..51332ec87a451142cd4008e2f60cd58456c2608b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000204_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:102e1afbe668fcefc5d6231babc1e3d587da1c95fe94256545a5690b1dd1caa8
+size 206537
diff --git a/redirect_red2green/episode_0002/colors/000204_color_2.jpg b/redirect_red2green/episode_0002/colors/000204_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a2878f47cc64c2cc6b95478d6f58cadd63b1834a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000204_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d6b88789b4813e1427eac9b6f01e86a0b0c9269b4718d27677f747f388d4d8
+size 68080
diff --git a/redirect_red2green/episode_0002/colors/000205_color_0.jpg b/redirect_red2green/episode_0002/colors/000205_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..55b6e3a12c38f1f1f5f116fbd1901f55ac21b208
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000205_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1981984c6ce8613c84a0ff37c21142aaebe015227da8c1e47d68e968141aab3
+size 205667
diff --git a/redirect_red2green/episode_0002/colors/000205_color_2.jpg b/redirect_red2green/episode_0002/colors/000205_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8f66d30adc37e3a9f8e493a4308e4910d047e276
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000205_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19cac18f454767bfdbb447453c2fb4f4e8b50c1b623d3d80cd2f36daa0d42060
+size 66258
diff --git a/redirect_red2green/episode_0002/colors/000206_color_0.jpg b/redirect_red2green/episode_0002/colors/000206_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0ea8963c16afd1bcd09dcf2795c5eba88692bbec
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000206_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d0378982575e9701c9f228c1626bfcb08a7118e4230e206612f96163216944
+size 202588
diff --git a/redirect_red2green/episode_0002/colors/000206_color_2.jpg b/redirect_red2green/episode_0002/colors/000206_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ba43618c497693d724ee08b29f7de38d75641d2e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000206_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd67c425b99ec7f93c55f02979e7fa42beae433560db499585d2045dd3ac6f7
+size 64412
diff --git a/redirect_red2green/episode_0002/colors/000207_color_0.jpg b/redirect_red2green/episode_0002/colors/000207_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f144e5b70ece26c99a4e0870b68cbe3ba49233a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000207_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e553e3dc0797595906fceb89f49c70f747ea4b43704284a5fec2c826c6ce6ee
+size 200390
diff --git a/redirect_red2green/episode_0002/colors/000207_color_2.jpg b/redirect_red2green/episode_0002/colors/000207_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8662dfae4b4c18c481f0a4a1868372dc577b6def
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000207_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9d12fb08083b469ce58dbd095a2dfaa7e5c02d86dcbe7a167e0b048a18da1f2
+size 62982
diff --git a/redirect_red2green/episode_0002/colors/000208_color_0.jpg b/redirect_red2green/episode_0002/colors/000208_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c152a80d5101bcb8d42611975813381c571eba6f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000208_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f423585fb645bd4ca1fe98d0c60d3db483fc01f0ecadd85a432994a851bfafb7
+size 200686
diff --git a/redirect_red2green/episode_0002/colors/000208_color_2.jpg b/redirect_red2green/episode_0002/colors/000208_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a1ffd40c9cd832d66a952c69389a0fc6f6bb6cf7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000208_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999b8465bc599bf6fd6f7263460ef1523c04ccef8f29887df10692a2c0f1f488
+size 62441
diff --git a/redirect_red2green/episode_0002/colors/000209_color_0.jpg b/redirect_red2green/episode_0002/colors/000209_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..442e3faafefe429f2d963ba46fd7348e1c184b8f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000209_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01cb133c54ce339f47e9aed899a1337befd561f866d33f59cdd36c9bb2e187b3
+size 202141
diff --git a/redirect_red2green/episode_0002/colors/000209_color_2.jpg b/redirect_red2green/episode_0002/colors/000209_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d140faf8978cd6a375fb760936c464a0178a4c06
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000209_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d645d149d8bc27bd831de2a1f00fd72b6719d663ecb614485c9fc8a168bd2b0
+size 62608
diff --git a/redirect_red2green/episode_0002/colors/000210_color_0.jpg b/redirect_red2green/episode_0002/colors/000210_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cf2709d646fec97a63e7a69eedb4d7736fa8a57c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000210_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a9c86c9899975a6feb2b147fbba4a793f9275d718c784af76686f167e539f2
+size 203382
diff --git a/redirect_red2green/episode_0002/colors/000210_color_2.jpg b/redirect_red2green/episode_0002/colors/000210_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ac0ed16637cdb44ceb446e039f8a547b0fc4a7fc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000210_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c635be9754caee304674ed78f41091a39c0cabacce965d5afd971bf8a0eb3f5
+size 63446
diff --git a/redirect_red2green/episode_0002/colors/000211_color_0.jpg b/redirect_red2green/episode_0002/colors/000211_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9f51b953592983025af3ab73de466fedade8e81
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000211_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacb25881201ff29fc62b0e47350c4e099cb8c7449ceabcf32ada7995fae565f
+size 202226
diff --git a/redirect_red2green/episode_0002/colors/000211_color_2.jpg b/redirect_red2green/episode_0002/colors/000211_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d925d18d02ac3cd0fa3d931cf4b542261fde4bb4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000211_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934f3e1d67d1e02c825b56ac0d698b76a21171404511ba89cf78237e429547b1
+size 63415
diff --git a/redirect_red2green/episode_0002/colors/000212_color_0.jpg b/redirect_red2green/episode_0002/colors/000212_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bc394b34c590fc6089fc0db75fb39afa815e67fc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000212_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807ef4d251cd7e34b11794ee93fea08d7b374e16f843fb2d9c8e17506f0ed7cc
+size 201561
diff --git a/redirect_red2green/episode_0002/colors/000212_color_2.jpg b/redirect_red2green/episode_0002/colors/000212_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..20a730d5b03582eee66113cb03da6a5a45fcdfe6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000212_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f72ec2d11f9e10cb17fa94a2304d06808aa73d8bb4a2edc5bc57d2b768dc6b
+size 62556
diff --git a/redirect_red2green/episode_0002/colors/000213_color_0.jpg b/redirect_red2green/episode_0002/colors/000213_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..520a401c9e77fbc76cbdc912e22fa407c8e3c8a5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000213_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cf8406d2de6071409871fa1b1c2b50a5bff7901cfbb2eb648ab012dfd71626
+size 201448
diff --git a/redirect_red2green/episode_0002/colors/000213_color_2.jpg b/redirect_red2green/episode_0002/colors/000213_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f373474f1e6d767c52b9c7458203569d5fc7612
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000213_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c34e7491e6edca2b2741a60a0bd893702fcfa3ff65dbd80258ad3d0845f1b5
+size 62793
diff --git a/redirect_red2green/episode_0002/colors/000214_color_0.jpg b/redirect_red2green/episode_0002/colors/000214_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cb1f63486512663331e1ceea11da772202baddbd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000214_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f923a0722bcb8178d7ef3271c91d7f2defba38e7e8390e653f94c05a1fa2ac14
+size 202206
diff --git a/redirect_red2green/episode_0002/colors/000214_color_2.jpg b/redirect_red2green/episode_0002/colors/000214_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eddd357fc6c624181406ef63c091cadc567fcb32
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000214_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d90b73c57fdbb85bffffc39c863a56ebc04cae5ba1c007b7f7594e2eb570b4d7
+size 63484
diff --git a/redirect_red2green/episode_0002/colors/000215_color_0.jpg b/redirect_red2green/episode_0002/colors/000215_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..784cd9dbfc9de2d3031e071ca5300604547545af
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000215_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25426af397fe46b99d4b9ddc6d563150bbb3b43050c7f080b545ad659e513063
+size 201954
diff --git a/redirect_red2green/episode_0002/colors/000215_color_2.jpg b/redirect_red2green/episode_0002/colors/000215_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c1670216fb7f0c05c8f7a01d3e67b336a7b52ea0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000215_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37fe982d63c7ff6210243c6afba1c371143e856b4ea91415db1bd702f850b1a
+size 64927
diff --git a/redirect_red2green/episode_0002/colors/000216_color_0.jpg b/redirect_red2green/episode_0002/colors/000216_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dd243e545bb93ab4efbddfa10cb117bb2ee43678
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000216_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7846ea3ffe5e4e1cdfa1b101fee659935d464c2f247e0446cee914dfd7c8ca9
+size 202556
diff --git a/redirect_red2green/episode_0002/colors/000216_color_2.jpg b/redirect_red2green/episode_0002/colors/000216_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..603c555f27646910c099728ed356082b1031df44
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000216_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e601bb23aaaabcb874dc83b353804e4c1d56965eea35a17fa745f62bc8b91dd5
+size 65488
diff --git a/redirect_red2green/episode_0002/colors/000217_color_0.jpg b/redirect_red2green/episode_0002/colors/000217_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1fb6ff32a7951a885b40730fa786c626b4e0b204
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000217_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c9721c1a21053bc16a1c2b8a7741e7260fdc236e01558d46b07608e3693f99e
+size 203229
diff --git a/redirect_red2green/episode_0002/colors/000217_color_2.jpg b/redirect_red2green/episode_0002/colors/000217_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..56d35bed078c2c7835d9ed465638c1dfaad92c00
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000217_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd1d2d1dacdbc189488a5d94689fb5ef31dc6dccb9d1815ffcfd4552133ee8e
+size 67164
diff --git a/redirect_red2green/episode_0002/colors/000218_color_0.jpg b/redirect_red2green/episode_0002/colors/000218_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3142963221eef892b1e1861371f810c1e6226686
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000218_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055fadfc83de3080e5646140a5ff53c99d26041c0ae8f724f043f5b275db52ad
+size 204364
diff --git a/redirect_red2green/episode_0002/colors/000218_color_2.jpg b/redirect_red2green/episode_0002/colors/000218_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8a233dc9cca1e0787d66794fbad701b9be6fef79
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000218_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2951fd002e015e011adf4cbf7b25489373137827d393a957c73bc68c30d5778
+size 70537
diff --git a/redirect_red2green/episode_0002/colors/000219_color_0.jpg b/redirect_red2green/episode_0002/colors/000219_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8a372f00aad122fc1bf2a97a9d1bdfc35213220a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000219_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a26c7a7f8b935e3d09d7432e447c66fd8a1c03ebf438e89cbf02f291efe668
+size 206893
diff --git a/redirect_red2green/episode_0002/colors/000219_color_2.jpg b/redirect_red2green/episode_0002/colors/000219_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e41786d2a20536b8f2c84cd7aa42c70fed7bea83
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000219_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447ba7897119ba775af0b539cb59ffb7ea19a7f39c561cf97bf99bc2908a5e9e
+size 71731
diff --git a/redirect_red2green/episode_0002/colors/000220_color_0.jpg b/redirect_red2green/episode_0002/colors/000220_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1812b2dbe9ba05bc319e5716965f650c92924bc9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000220_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d8ba0d6b790c9ee7838a09efca036e121c5dbea3962b7c86f3f092c15321577
+size 209256
diff --git a/redirect_red2green/episode_0002/colors/000220_color_2.jpg b/redirect_red2green/episode_0002/colors/000220_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9a570cbb510d58168fff49b9c840618b1d7ef6b6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000220_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d4f2a6302d8141352575153bc3d0139b1b4e12e3014e213cbeff42e43db3b97
+size 70703
diff --git a/redirect_red2green/episode_0002/colors/000221_color_0.jpg b/redirect_red2green/episode_0002/colors/000221_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5844d868a558058c0a96c7816aac4c03ccbb89cc
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000221_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a0f6fcc2e82d903e850ea1c4ca87d91eeb1485e4cb8a8f2e0f6372f04dd731
+size 210578
diff --git a/redirect_red2green/episode_0002/colors/000221_color_2.jpg b/redirect_red2green/episode_0002/colors/000221_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9e7533777b9435b9a7d40419bbc94a36693a948d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000221_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d8526b1c343577eec235f21c6ac1b9657f83417e28f352d4c9a6cac1e82f0c
+size 66338
diff --git a/redirect_red2green/episode_0002/colors/000222_color_0.jpg b/redirect_red2green/episode_0002/colors/000222_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..030dd18155f28c57fff34cf5c3167d2723fda6ec
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000222_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93090f07a85a27876651f98649eb24fdffe6645704c6f425236a7e250d7d586a
+size 215791
diff --git a/redirect_red2green/episode_0002/colors/000222_color_2.jpg b/redirect_red2green/episode_0002/colors/000222_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..846c6750dce918bf224d0ff97cd4cc04ed266d8c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000222_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cfc3256a14551520ee50852af4e5bc48cc57e0bb4035a107867e272875a9c2c
+size 63706
diff --git a/redirect_red2green/episode_0002/colors/000223_color_0.jpg b/redirect_red2green/episode_0002/colors/000223_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..030dd18155f28c57fff34cf5c3167d2723fda6ec
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000223_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93090f07a85a27876651f98649eb24fdffe6645704c6f425236a7e250d7d586a
+size 215791
diff --git a/redirect_red2green/episode_0002/colors/000223_color_2.jpg b/redirect_red2green/episode_0002/colors/000223_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5ef07e5ed837624d7ece2eca2ff203b78b966a0f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000223_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0adc0415eb91d03d762d38c494bd489a94cdd5a8c12acad4bc97a82e7bcf1b
+size 61397
diff --git a/redirect_red2green/episode_0002/colors/000224_color_0.jpg b/redirect_red2green/episode_0002/colors/000224_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..994ec84ce01377ffbec27f80116c82f1985c7552
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000224_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f735c3ebc7aa7e66bf2f638272f287a25d1696f9ff669a813e36fedc784b083e
+size 216031
diff --git a/redirect_red2green/episode_0002/colors/000224_color_2.jpg b/redirect_red2green/episode_0002/colors/000224_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..602022d48d9b7b34d9a650a70aab235140c0478a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000224_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dac1c0308090d27a20bca4a494a528ef201ca5e240b427d28f600af5cfc512e
+size 58828
diff --git a/redirect_red2green/episode_0002/colors/000225_color_0.jpg b/redirect_red2green/episode_0002/colors/000225_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..58494ebf4e6462bdb61e731e4c3cb721b89db3c5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000225_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57d9a71e833309051e7650cfa8baf5ad367d4430f12408fb7529780807edf9a
+size 214853
diff --git a/redirect_red2green/episode_0002/colors/000225_color_2.jpg b/redirect_red2green/episode_0002/colors/000225_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4b28156d73003a2ff851787823d8710543d70292
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000225_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41a09b7e2c45fedc101f1e9c0bdcf4e5cd474952a99c28d2160da65e5111afb8
+size 57100
diff --git a/redirect_red2green/episode_0002/colors/000226_color_0.jpg b/redirect_red2green/episode_0002/colors/000226_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..753d7414d4e8e4402581c9d11bab0e52b75ad9db
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000226_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5cef0a0dcad6113355b53ba9917bee601af38f2812261d3f3fa7d3c9f42157
+size 210751
diff --git a/redirect_red2green/episode_0002/colors/000226_color_2.jpg b/redirect_red2green/episode_0002/colors/000226_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..71cba809fabed02e917bc229b5a34c9de7fa907a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000226_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39b2bd112b8723708528c65533db08c08e5c30643cae311d02f8ae66bfdc161
+size 57558
diff --git a/redirect_red2green/episode_0002/colors/000227_color_0.jpg b/redirect_red2green/episode_0002/colors/000227_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..744aab7c690cbcb516d7bfa5bb90bb340d30c248
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000227_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5fc0c073c1b05905483c4c3f71db4704af37d84330975d31f22aecbee36a10a
+size 201937
diff --git a/redirect_red2green/episode_0002/colors/000227_color_2.jpg b/redirect_red2green/episode_0002/colors/000227_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9d8bd79464b9df5d8a7700fd5eb177fab1562030
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000227_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34138d6d224f584710222e5353f3701d7b710891a2738d37d5c96ff134ec088
+size 59327
diff --git a/redirect_red2green/episode_0002/colors/000228_color_0.jpg b/redirect_red2green/episode_0002/colors/000228_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec106097aef13cdeee2c4660f010b900e14bb429
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000228_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dde46e8a79e4fee6721b61194d7c634e52f36a00cc75da6e319d2741d75d2e06
+size 203528
diff --git a/redirect_red2green/episode_0002/colors/000228_color_2.jpg b/redirect_red2green/episode_0002/colors/000228_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d0dc70f769677e66ea2b75007fb5823888578cfd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000228_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35dcef45602d4aed658dc0bea54c48d2c85d65ae9727bfdbc13e52b694ae1c18
+size 61627
diff --git a/redirect_red2green/episode_0002/colors/000229_color_0.jpg b/redirect_red2green/episode_0002/colors/000229_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..16d945ce4ec553bab400106eb2714533a5afdaa3
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000229_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98d8dc5be8cdf410053e9aa31e16120ba71076b79b2874c8430aeccb74f34fe0
+size 203202
diff --git a/redirect_red2green/episode_0002/colors/000229_color_2.jpg b/redirect_red2green/episode_0002/colors/000229_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9614e1423e5d603c52b35769d317ce0c7cd5faa7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000229_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5d3f0b7364c109e93bbdade28f12d1e62e848bf3070239c8afc7a8360afd8a
+size 64029
diff --git a/redirect_red2green/episode_0002/colors/000230_color_0.jpg b/redirect_red2green/episode_0002/colors/000230_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c56c68b2d62476cd99c82b7980df1ba2312162b1
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000230_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3b0adbfec4b145718ff9951864dd0c7af6a6954a64a2375f9853eb5e0d00c2
+size 200512
diff --git a/redirect_red2green/episode_0002/colors/000230_color_2.jpg b/redirect_red2green/episode_0002/colors/000230_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..efc63a009327a1a626b0760ac758459ebc3e6eb0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000230_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91782c6ee45b5b8a979034f4a27b51a00c46a4c70a1f42f570128d6012de1f07
+size 63922
diff --git a/redirect_red2green/episode_0002/colors/000231_color_0.jpg b/redirect_red2green/episode_0002/colors/000231_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..765b439fe042fb4c84773d5d6a33ef94895a0ef8
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000231_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24dbe4e20e68fb7278d2dcb16ecfc6e7150ca0aca92089e40f013c0c74a08e06
+size 200042
diff --git a/redirect_red2green/episode_0002/colors/000231_color_2.jpg b/redirect_red2green/episode_0002/colors/000231_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4e124a9dce1a03e11fa7f0054d3f5a7a491bc1a5
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000231_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e766647827ef7139ef902cbc854861484a6e1def25d3583f498c43b10604726
+size 62979
diff --git a/redirect_red2green/episode_0002/colors/000232_color_0.jpg b/redirect_red2green/episode_0002/colors/000232_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0cbf3c32a9714bcec14d72a8f8d01a4a91417802
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000232_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06749056fafb2780c43e824918d987ee48874865a6149d8c8166579f6b11f485
+size 202180
diff --git a/redirect_red2green/episode_0002/colors/000232_color_2.jpg b/redirect_red2green/episode_0002/colors/000232_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f156f523c8ceb210e10e0433d2b649ae051ae26a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000232_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78256d5060ec4484f544c8652293517f54a0c3cf0d92c882ce9ef1e0ab0cd106
+size 63231
diff --git a/redirect_red2green/episode_0002/colors/000233_color_0.jpg b/redirect_red2green/episode_0002/colors/000233_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..562c8261008f431406e90026de5227a8effe9c4a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000233_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d856b05c91a93240633b383d0740016ed2a2ba52b252ccaa5d0766d0a58bb43
+size 201774
diff --git a/redirect_red2green/episode_0002/colors/000233_color_2.jpg b/redirect_red2green/episode_0002/colors/000233_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7b3cddf01ccdd45543d01a07cb230c6f933f1235
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000233_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6576208fed9c042110db47cceab5bb816fe6fed128050637eff9c12de644d84
+size 63709
diff --git a/redirect_red2green/episode_0002/colors/000234_color_0.jpg b/redirect_red2green/episode_0002/colors/000234_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..97595d731fcd9448a379d4b1d702a929c461205c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000234_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1374302afbe8fabbfb0e0b37c45a876234415435a022b9d44760486a68e81227
+size 202221
diff --git a/redirect_red2green/episode_0002/colors/000234_color_2.jpg b/redirect_red2green/episode_0002/colors/000234_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..df77de6952ecbae6d60f31783462835b913129d7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000234_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4465b4b83b77976c6b3e9adaa57aa0948b3860e34e01c75a17807409110d5a05
+size 63382
diff --git a/redirect_red2green/episode_0002/colors/000235_color_0.jpg b/redirect_red2green/episode_0002/colors/000235_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9ac93a2c84656fc801535e74586db39c4d69e04f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000235_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:244f2a10e253b83091be0440333727a331d597422359dddd39ad7a5a30a0fed5
+size 199105
diff --git a/redirect_red2green/episode_0002/colors/000235_color_2.jpg b/redirect_red2green/episode_0002/colors/000235_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..abbb57b2a647d0a913c6a025b5e47adfedb8833c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000235_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f33f3c32726f424629afe7eca46bb8a24c1a1386e7392fb7c424acb3922a33
+size 62400
diff --git a/redirect_red2green/episode_0002/colors/000236_color_0.jpg b/redirect_red2green/episode_0002/colors/000236_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e7ca4447d1c8bdcff20e6e36c09b6fc72eb2be10
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000236_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8333f5acfb1a658f30f5112f0aa39f1d17a98d2d4127da6a3f02f864d266cb7b
+size 198340
diff --git a/redirect_red2green/episode_0002/colors/000236_color_2.jpg b/redirect_red2green/episode_0002/colors/000236_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..665ca15216a2493f2d4d51f708cb0637377aa603
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000236_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b48687363373f8941acc2a809eec018c4fb80d60b09d8f68df7c64a2b56318e3
+size 61461
diff --git a/redirect_red2green/episode_0002/colors/000237_color_0.jpg b/redirect_red2green/episode_0002/colors/000237_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..67e112590617e4f9a3d2dc4cb912d93ec74e3c63
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000237_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:543a995dd627ea63cdfa6f6e26a2ddef91078a17b682855039185f47558fd60d
+size 200136
diff --git a/redirect_red2green/episode_0002/colors/000237_color_2.jpg b/redirect_red2green/episode_0002/colors/000237_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7134a1e2d8b09037333795b47da7377d7e556e8b
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000237_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79959df3952436d1bdd7f91ca2f4a72b3973bbb9dafcadc2e791a41a0a66ba8c
+size 59606
diff --git a/redirect_red2green/episode_0002/colors/000238_color_0.jpg b/redirect_red2green/episode_0002/colors/000238_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ce09415982043f7c48ce2221daf8425fe7973d04
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000238_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c1bf24d231b01606efe4b1d1f2a256001d95db1df840bb51667c6ffef11c2f
+size 200194
diff --git a/redirect_red2green/episode_0002/colors/000238_color_2.jpg b/redirect_red2green/episode_0002/colors/000238_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dad24e15cda0e0ee17ddd385fb73609b09121ef6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000238_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b249eced8812261bb328fcf8f99814ae576304bf93011f63f0befef93895bd4
+size 59588
diff --git a/redirect_red2green/episode_0002/colors/000239_color_0.jpg b/redirect_red2green/episode_0002/colors/000239_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f5c95dd8c6ca717f883346ea7712a4f569648a7d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000239_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1c988a672179c06bb76c1ef406a32d34c173a5cb8e1edaeb6a3390f36f5bab
+size 197841
diff --git a/redirect_red2green/episode_0002/colors/000239_color_2.jpg b/redirect_red2green/episode_0002/colors/000239_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dd490b2b350144ed0c4818b9fc8b06b68e576d0f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000239_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77085d03736916a0246c670b4e01846c175d30b3a85592aabf1753701f0ef74e
+size 59871
diff --git a/redirect_red2green/episode_0002/colors/000240_color_0.jpg b/redirect_red2green/episode_0002/colors/000240_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..84b945a7f7f5eb1c3e18792008195f9ef02ed403
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000240_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e07342c2fa5a18428db1f8d80817deccd9d9bf0b157cda8eb828b4588064d1
+size 199050
diff --git a/redirect_red2green/episode_0002/colors/000240_color_2.jpg b/redirect_red2green/episode_0002/colors/000240_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..de94f15c97e1410081b1943d7c3ec0bac3d45617
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000240_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e0078c4850e58c9f5357e048166b34a47dce6b9cce9c6071071d110723ec9a
+size 59214
diff --git a/redirect_red2green/episode_0002/colors/000241_color_0.jpg b/redirect_red2green/episode_0002/colors/000241_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..37f269d5175ad132faf67fdc1fd5a09c35a0bbb9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000241_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229f264da21f3bad65ac07d57fec81a83f11396374f11fb0b38951370f74cfa8
+size 199601
diff --git a/redirect_red2green/episode_0002/colors/000241_color_2.jpg b/redirect_red2green/episode_0002/colors/000241_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..54b5506a61bd9949131209e1bc8feac39d5cf6ce
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000241_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e5f7ca4bc5746d16f856b8a6f8c790a9092d810744849dbbce4448d40d7a99
+size 58129
diff --git a/redirect_red2green/episode_0002/colors/000242_color_0.jpg b/redirect_red2green/episode_0002/colors/000242_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d427a8d98ac7a8b4eb419279bcca05fed31a9002
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000242_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97811ba44d8dbf18e8dc0cabc5b2f796a7b95f2dd8e3ea698beca2926bd701b
+size 197093
diff --git a/redirect_red2green/episode_0002/colors/000242_color_2.jpg b/redirect_red2green/episode_0002/colors/000242_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ac71a0b17b99eaea48ed1a2ffda19da94dade4c0
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000242_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ac87733dbbde36891de1754a1f76b8cd53fc57f5a65c1bc7b01df9a4f3ad7b4
+size 58066
diff --git a/redirect_red2green/episode_0002/colors/000243_color_0.jpg b/redirect_red2green/episode_0002/colors/000243_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d427a8d98ac7a8b4eb419279bcca05fed31a9002
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000243_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97811ba44d8dbf18e8dc0cabc5b2f796a7b95f2dd8e3ea698beca2926bd701b
+size 197093
diff --git a/redirect_red2green/episode_0002/colors/000243_color_2.jpg b/redirect_red2green/episode_0002/colors/000243_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6d3424b6e130d44ffc88511d8946dc0448601633
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000243_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc408ff2ba03d50d01854e2d46a2e252967018ef53ad898eb2ae52ba3e89aebf
+size 59396
diff --git a/redirect_red2green/episode_0002/colors/000244_color_0.jpg b/redirect_red2green/episode_0002/colors/000244_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6db7fd77bf47026c6bc3b80d01bf838859fa6fec
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000244_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cbcaf57ccb23d9ba050a352fcf9e52eee34021278556597326db03e5c0afbee
+size 197565
diff --git a/redirect_red2green/episode_0002/colors/000244_color_2.jpg b/redirect_red2green/episode_0002/colors/000244_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8d18480170136dae163b729acd29e13991b7d578
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000244_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbbb241d0cb5f6826ce5744ffedef7f95296b8f547be5975825edf359dcdc23
+size 59386
diff --git a/redirect_red2green/episode_0002/colors/000245_color_0.jpg b/redirect_red2green/episode_0002/colors/000245_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..36d0ecb3232f816b685739ffb11be26285774e25
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000245_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cca691a100bcf6bb4f06bda2798106983b984d24148e7d3d096d5b9550579e1
+size 198022
diff --git a/redirect_red2green/episode_0002/colors/000245_color_2.jpg b/redirect_red2green/episode_0002/colors/000245_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..db7bba967fdc1dd9d91dd9696536d33f71899527
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000245_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5299b0bb935b51b5df55f6a950d40db3db497b3c2e344ef93fe136ddbfce2117
+size 58300
diff --git a/redirect_red2green/episode_0002/colors/000246_color_0.jpg b/redirect_red2green/episode_0002/colors/000246_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ea02bf7fdc5334a5caa0e016cf1deaea045e3338
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000246_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0dfae7ea07e0399378ad09efef1574d35ad2bd8444e321a6161980b09f066b0
+size 196046
diff --git a/redirect_red2green/episode_0002/colors/000246_color_2.jpg b/redirect_red2green/episode_0002/colors/000246_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..19fd25f73e365f801077f4535269b2c0d98df52d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000246_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75daf4fbb3db6ff4cd2fb25c232b8d0fec4c858c2377c3811f05c9fc43dd0a3f
+size 59706
diff --git a/redirect_red2green/episode_0002/colors/000247_color_0.jpg b/redirect_red2green/episode_0002/colors/000247_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..694202835a54509cd2bf7b154ad7dd24199813fd
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000247_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:961dc0f2a03f68d240068438afceae64996b193a61e629b91481fc728e07e8df
+size 195097
diff --git a/redirect_red2green/episode_0002/colors/000247_color_2.jpg b/redirect_red2green/episode_0002/colors/000247_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f01479d7992f71b2e03c26b3c5ae77ab701186e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000247_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e055e7388dc93256cfc0d9b77c781080d733407645e7e45f3b8fc8f65a93324
+size 60004
diff --git a/redirect_red2green/episode_0002/colors/000248_color_0.jpg b/redirect_red2green/episode_0002/colors/000248_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8f31cbd959ce88265d0439c46a8f7f58d7e5be56
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000248_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:755ba3bbdd42dbae6ade9cbef9a9cdb8e890b000e006ddb5355e6bdf9737733d
+size 195830
diff --git a/redirect_red2green/episode_0002/colors/000248_color_2.jpg b/redirect_red2green/episode_0002/colors/000248_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7525797cf60fa3a08a035476f1b65b2de40f5da7
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000248_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94046a44db3d0dc826bb4208bafeee7f83e09c887e1f627e5bbb6e6e1da9b62c
+size 58251
diff --git a/redirect_red2green/episode_0002/colors/000249_color_0.jpg b/redirect_red2green/episode_0002/colors/000249_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..920da5e7c843a5f174034c5cd3463f70afae6cb9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000249_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f9bc9a3ff0b7b6bb75a805ad88f91098c47f01f55a8f278391c79ef9fad7ae
+size 196923
diff --git a/redirect_red2green/episode_0002/colors/000249_color_2.jpg b/redirect_red2green/episode_0002/colors/000249_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a59677a23f2c621ba8246a11dfc975705d780f9f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000249_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8e536f52f69ab45246a8e6a8d1c7660782a7eb1c7317d698bb3311f89687b8
+size 59919
diff --git a/redirect_red2green/episode_0002/colors/000250_color_0.jpg b/redirect_red2green/episode_0002/colors/000250_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..920da5e7c843a5f174034c5cd3463f70afae6cb9
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000250_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f9bc9a3ff0b7b6bb75a805ad88f91098c47f01f55a8f278391c79ef9fad7ae
+size 196923
diff --git a/redirect_red2green/episode_0002/colors/000250_color_2.jpg b/redirect_red2green/episode_0002/colors/000250_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b09ac36de9888a1d3988bcf1687b19b6d4900c6f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000250_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2135248fd65e7cefc0b935bcd22e05aa2ad8b15f43217b20a68565648db46f5b
+size 60356
diff --git a/redirect_red2green/episode_0002/colors/000251_color_0.jpg b/redirect_red2green/episode_0002/colors/000251_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..30f7e21c37b6da895e0ad2b1c02082c52ce5c611
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000251_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00b92d30152790552908251299be8eede219654cce2d858a9ba7a32f12ce7bc
+size 196808
diff --git a/redirect_red2green/episode_0002/colors/000251_color_2.jpg b/redirect_red2green/episode_0002/colors/000251_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5c0f00dfa92dda38282536b583ec9149d7c76764
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000251_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18ef6151a81a1e0967b2c16861438a56ac5e1fd37e7be6fb09e132f678311a44
+size 60175
diff --git a/redirect_red2green/episode_0002/colors/000252_color_0.jpg b/redirect_red2green/episode_0002/colors/000252_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..34879a92ca25c6bbec17ff05c156fb6fb23bc885
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000252_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074538cbd64da39b90a3119d8535fffaf8d697428bd644350e1c7f4e3763c65f
+size 195538
diff --git a/redirect_red2green/episode_0002/colors/000252_color_2.jpg b/redirect_red2green/episode_0002/colors/000252_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..31a0df79010667142087dad87c518f9de51c8466
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000252_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f3bd7d283c1d148e2eae4b2d884b50f60bcb6d6bed89dbc1910fd2b16235d9
+size 61922
diff --git a/redirect_red2green/episode_0002/colors/000253_color_0.jpg b/redirect_red2green/episode_0002/colors/000253_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3351b7fb4518a437f8c6386a2971924386956989
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000253_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016e0fc4dd79ce68e72018a29ddb0f79fbc957dad6fa24f59e4df3d6eeaf5257
+size 192686
diff --git a/redirect_red2green/episode_0002/colors/000253_color_2.jpg b/redirect_red2green/episode_0002/colors/000253_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a5e78f4a11a1501f9cbb0aa7b05b43acb1ea895c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000253_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fdfe276987d045aa932070fcc8f161f62758528ae462fd6e4dc40ccb308a615
+size 60821
diff --git a/redirect_red2green/episode_0002/colors/000254_color_0.jpg b/redirect_red2green/episode_0002/colors/000254_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3351b7fb4518a437f8c6386a2971924386956989
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000254_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016e0fc4dd79ce68e72018a29ddb0f79fbc957dad6fa24f59e4df3d6eeaf5257
+size 192686
diff --git a/redirect_red2green/episode_0002/colors/000254_color_2.jpg b/redirect_red2green/episode_0002/colors/000254_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..30a7c1489934e9bf6fb9a52addebb625b8773f4f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000254_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2016919656a5e5c9cbf48f694691e06f9001db027887514132c03ef2c4a5c7fb
+size 60100
diff --git a/redirect_red2green/episode_0002/colors/000255_color_0.jpg b/redirect_red2green/episode_0002/colors/000255_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..14008f634c50ce4f85c4448722304dd9899228ce
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000255_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46862d741f6082a966b07e1b55d44415b96bfe11aa76f6f8af0651a5a05efa51
+size 190455
diff --git a/redirect_red2green/episode_0002/colors/000255_color_2.jpg b/redirect_red2green/episode_0002/colors/000255_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..27aa7ca1782fc69619384d63025e203d94eb6f87
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000255_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3594c882b8cd16bb3fa80825a058f0474fe23e3b0bfc9cd923684f786ff5424a
+size 61013
diff --git a/redirect_red2green/episode_0002/colors/000256_color_0.jpg b/redirect_red2green/episode_0002/colors/000256_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..77af81fa330021a6146f9831cba829169f386695
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000256_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71cfb695a1f4c317529dfdd8e524846f3cb49afede8a73d2ea85a34056f7b07
+size 189912
diff --git a/redirect_red2green/episode_0002/colors/000256_color_2.jpg b/redirect_red2green/episode_0002/colors/000256_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..886f641bfb6614df1fdf19c2f5912fc7c187977d
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000256_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c200008a927f28cb0fb4af15b8ea1a89964fa9d15a4cd6dd07baa2f0378bb8
+size 60844
diff --git a/redirect_red2green/episode_0002/colors/000257_color_0.jpg b/redirect_red2green/episode_0002/colors/000257_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..97e1e1470b077aef4458cb40f19e5d350b98fa8e
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000257_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a727a00fb7787ca85c1308750c9c9195eeff0420821f54dfe65126892e02916
+size 187788
diff --git a/redirect_red2green/episode_0002/colors/000257_color_2.jpg b/redirect_red2green/episode_0002/colors/000257_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..352d35b5548bdbc592735b91050667550d163a9c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000257_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764387fcd6b3494526c958508c3b081b70b223e5479893bf8081f7577ba752f4
+size 61281
diff --git a/redirect_red2green/episode_0002/colors/000258_color_0.jpg b/redirect_red2green/episode_0002/colors/000258_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..142fb5c3870d9e871efc16e4287860fd4f36f1ce
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000258_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d19a8aaa64320dfcc3b55655020b56ea014f3e7ff6216504a4ce8c6a82945b7
+size 184086
diff --git a/redirect_red2green/episode_0002/colors/000258_color_2.jpg b/redirect_red2green/episode_0002/colors/000258_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aa3a4fca3e1b179852e2e919f7429890be98116f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000258_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4a3eee5bd2dee86333d62f40338d34d6a17f351ea38d06caea49a14c4a9285
+size 65128
diff --git a/redirect_red2green/episode_0002/colors/000259_color_0.jpg b/redirect_red2green/episode_0002/colors/000259_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..353c57fe3ff251b3566e3d47a38aa3c32ee7fc6c
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000259_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d34f120aa37a6c23eae4f74e3a6cfb293e8fbd0b31966074a5b81e24e246227d
+size 183448
diff --git a/redirect_red2green/episode_0002/colors/000259_color_2.jpg b/redirect_red2green/episode_0002/colors/000259_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..adff6f4c6400927ae1e35898c32eab248a8e39c6
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000259_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad6dd4c0c9f0716931fa5a4084664830d8f8232faa3728a1212d1b62c96d20e
+size 65418
diff --git a/redirect_red2green/episode_0002/colors/000260_color_0.jpg b/redirect_red2green/episode_0002/colors/000260_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d22ccd3e20204b46ee524080ad43db2c236b449a
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000260_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b58ea17205937948f7f5dd73b59938778f9a8661cff878fc50d02f6defcc5eec
+size 181966
diff --git a/redirect_red2green/episode_0002/colors/000260_color_2.jpg b/redirect_red2green/episode_0002/colors/000260_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f6df3a0b1883227ee8ace675b2cb7d7c08fc86e4
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000260_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a011802bcbd97404094d0375eee1f5b170bcee99a88e45b62111955555500f1
+size 65636
diff --git a/redirect_red2green/episode_0002/colors/000261_color_0.jpg b/redirect_red2green/episode_0002/colors/000261_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1b4795c6304d2a7c73c87c8f8b360704bb4b37aa
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000261_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd07ec18fc85edd2625b064660a35976baf4eef4a2dfcd812087d92301a60e0
+size 181775
diff --git a/redirect_red2green/episode_0002/colors/000261_color_2.jpg b/redirect_red2green/episode_0002/colors/000261_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b687aea765abea47406e8b249c5a757a6c1ad482
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000261_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789a5d3856326f3d932f3ad93b28d9c905b9c78316ce195c86c576741d524ec7
+size 72513
diff --git a/redirect_red2green/episode_0002/colors/000262_color_0.jpg b/redirect_red2green/episode_0002/colors/000262_color_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e897726d09be8529961edef6b29a5ab89435e01f
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000262_color_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dcf8cf7af9b6023d081142285785d389b6428270b43f18a8b39cbb331c7e7d7
+size 180517
diff --git a/redirect_red2green/episode_0002/colors/000262_color_2.jpg b/redirect_red2green/episode_0002/colors/000262_color_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..77081937941dc0eddac0d37339f4403431397b44
--- /dev/null
+++ b/redirect_red2green/episode_0002/colors/000262_color_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f28f31c834b5acb76d81efa3cdafd6985f7d3ff71b551ef253f505818eacada
+size 72429
diff --git a/redirect_red2green/episode_0002/data.json b/redirect_red2green/episode_0002/data.json
new file mode 100644
index 0000000000000000000000000000000000000000..93733dc6d938b03c530e8dfe56564e1a8a7b1082
--- /dev/null
+++ b/redirect_red2green/episode_0002/data.json
@@ -0,0 +1,49223 @@
+{
+"info": {
+    "version": "1.0.0",
+    "date": "2026-07-29",
+    "author": "unitree",
+    "image": {
+        "width": 640,
+        "height": 480,
+        "fps": 30.0
+    },
+    "depth": {
+        "width": 640,
+        "height": 480,
+        "fps": 30.0
+    },
+    "audio": {
+        "sample_rate": 16000,
+        "channels": 1,
+        "format": "PCM",
+        "bits": 16
+    },
+    "joint_names": {
+        "left_arm": [],
+        "left_ee": [],
+        "right_arm": [],
+        "right_ee": [],
+        "body": []
+    },
+    "tactile_names": {
+        "left_ee": [],
+        "right_ee": []
+    },
+    "sim_state": ""
+},
+"text": {
+    "goal": "start toward the red apple, then redirect to the green apple and place it on the plate",
+    "desc": "task description",
+    "steps": "step1: do this; step2: do that;"
+},
+"data": [
+{
+    "idx": 0,
+    "colors": {
+        "color_0": "colors/000000_color_0.jpg",
+        "color_2": "colors/000000_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.23816250264644623,
+                -0.06025668606162071,
+                -0.009227853268384933,
+                -0.002121207769960165,
+                0.12983709573745728,
+                -0.4749741554260254,
+                0.22392286360263824
+            ],
+            "ee_pos": [
+                0.1940401941537857,
+                0.15713156759738922,
+                0.09000275284051895
+            ],
+            "ee_quat_wxyz": [
+                0.9835962653160095,
+                0.02486891858279705,
+                -0.12648344039916992,
+                0.1261816769838333
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16654478013515472,
+                -0.084596648812294,
+                -0.04097406566143036,
+                0.10438260436058044,
+                -0.08810802549123764,
+                -0.04634923115372658,
+                -0.048335738480091095
+            ],
+            "ee_pos": [
+                0.2816491723060608,
+                -0.16658470034599304,
+                0.12046127021312714
+            ],
+            "ee_quat_wxyz": [
+                0.994697630405426,
+                -0.08312594145536423,
+                -0.05455387011170387,
+                -0.026278987526893616
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520045757293701,
+                -0.12742608785629272,
+                -0.002624811604619026,
+                0.26223400235176086,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281241178512573,
+                -0.07311122864484787,
+                0.19573594629764557,
+                0.5041598081588745,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.05970107018947601,
+                -0.004392427392303944,
+                -0.07063332945108414,
+                0.23816250264644623,
+                -0.06025668606162071,
+                -0.009227853268384933,
+                -0.002121207769960165,
+                0.12983709573745728,
+                -0.4749741554260254,
+                0.22392286360263824,
+                -0.16654478013515472,
+                -0.084596648812294,
+                -0.04097406566143036,
+                0.10438260436058044,
+                -0.08810802549123764,
+                -0.04634923115372658,
+                -0.048335738480091095,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.2111801056321856,
+                -0.05547248556442062,
+                0.007951548032766409,
+                0.007857613980530668,
+                0.13534818214668887,
+                -0.459589520007141,
+                0.2272016415426018
+            ],
+            "target_pos": [
+                0.20227676630020142,
+                0.164454385638237,
+                0.09327997267246246
+            ],
+            "target_quat_wxyz": [
+                0.9798421859741211,
+                0.03377758711576462,
+                -0.14044585824012756,
+                0.13799749314785004
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.18093833932335163,
+                -0.08116500356929016,
+                -0.04570338755108349,
+                0.126465344316594,
+                -0.08222503646198429,
+                -0.052487094902850404,
+                -0.05484317426461871
+            ],
+            "target_pos": [
+                0.2871069312095642,
+                -0.16519418358802795,
+                0.11829806864261627
+            ],
+            "target_quat_wxyz": [
+                0.9952206611633301,
+                -0.07307834923267365,
+                -0.05711968243122101,
+                -0.03054153360426426
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000000_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 1,
+    "colors": {
+        "color_0": "colors/000001_color_0.jpg",
+        "color_2": "colors/000001_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.22948592901229858,
+                -0.05891445279121399,
+                -0.004314321093261242,
+                -0.0011504855938255787,
+                0.1294296383857727,
+                -0.47344785928726196,
+                0.22445207834243774
+            ],
+            "ee_pos": [
+                0.19573882222175598,
+                0.15807107090950012,
+                0.09122057259082794
+            ],
+            "ee_quat_wxyz": [
+                0.9830477237701416,
+                0.025541512295603752,
+                -0.12926527857780457,
+                0.12749607861042023
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16867797076702118,
+                -0.08405735343694687,
+                -0.04268781095743179,
+                0.108936607837677,
+                -0.08746087551116943,
+                -0.0477835051715374,
+                -0.05019185319542885
+            ],
+            "ee_pos": [
+                0.2820449471473694,
+                -0.16688519716262817,
+                0.12013896554708481
+            ],
+            "ee_quat_wxyz": [
+                0.9947449564933777,
+                -0.08238284289836884,
+                -0.05408827215433121,
+                -0.027748748660087585
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519777536392212,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622595727443695,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.128110647201538,
+                -0.07311975210905075,
+                0.19574934244155884,
+                0.5041342377662659,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.059928733855485916,
+                -0.00437720213085413,
+                -0.07063329964876175,
+                0.22948592901229858,
+                -0.05891445279121399,
+                -0.004314321093261242,
+                -0.0011504855938255787,
+                0.1294296383857727,
+                -0.47344785928726196,
+                0.22445207834243774,
+                -0.16867797076702118,
+                -0.08405735343694687,
+                -0.04268781095743179,
+                0.108936607837677,
+                -0.08746087551116943,
+                -0.0477835051715374,
+                -0.05019185319542885,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.20264251925192656,
+                -0.051683808346758925,
+                0.015195992245540937,
+                0.007865002386352314,
+                0.13228428217132848,
+                -0.45880284983512276,
+                0.22754704566549183
+            ],
+            "target_pos": [
+                0.2020672857761383,
+                0.16350151598453522,
+                0.09268300235271454
+            ],
+            "target_quat_wxyz": [
+                0.9798421859741211,
+                0.03377758711576462,
+                -0.14044585824012756,
+                0.13799749314785004
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.18415326150086714,
+                -0.07856030883830542,
+                -0.04708357930631068,
+                0.13255340206198515,
+                -0.07923689732210457,
+                -0.054616670325875,
+                -0.05518591846679004
+            ],
+            "target_pos": [
+                0.2868974506855011,
+                -0.16614705324172974,
+                0.11770109832286835
+            ],
+            "target_quat_wxyz": [
+                0.9952206611633301,
+                -0.07307834923267365,
+                -0.05711968243122101,
+                -0.03054153360426426
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000001_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 2,
+    "colors": {
+        "color_0": "colors/000002_color_0.jpg",
+        "color_2": "colors/000002_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.2166028916835785,
+                -0.0556667260825634,
+                0.0036791572347283363,
+                2.3968450477696024e-05,
+                0.1284349411725998,
+                -0.4708247482776642,
+                0.2246284931898117
+            ],
+            "ee_pos": [
+                0.19823825359344482,
+                0.15980875492095947,
+                0.09308713674545288
+            ],
+            "ee_quat_wxyz": [
+                0.9822147488594055,
+                0.027074269950389862,
+                -0.13335980474948883,
+                0.12936902046203613
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.173567533493042,
+                -0.08319449424743652,
+                -0.04476108029484749,
+                0.11881160736083984,
+                -0.0845247432589531,
+                -0.048312727361917496,
+                -0.051380690187215805
+            ],
+            "ee_pos": [
+                0.2829919159412384,
+                -0.1670801043510437,
+                0.11922506988048553
+            ],
+            "ee_quat_wxyz": [
+                0.9950031042098999,
+                -0.08034498244524002,
+                -0.05180393159389496,
+                -0.028807831928133965
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052031397819519,
+                -0.12746869027614594,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280972957611084,
+                -0.07311122864484787,
+                0.19573594629764557,
+                0.504125714302063,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06003586947917938,
+                -0.004407651722431183,
+                -0.07062333822250366,
+                0.2166028916835785,
+                -0.0556667260825634,
+                0.0036791572347283363,
+                2.3968450477696024e-05,
+                0.1284349411725998,
+                -0.4708247482776642,
+                0.2246284931898117,
+                -0.173567533493042,
+                -0.08319449424743652,
+                -0.04476108029484749,
+                0.11881160736083984,
+                -0.0845247432589531,
+                -0.048312727361917496,
+                -0.051380690187215805,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.19353904950672432,
+                -0.049652301438948734,
+                0.02334903668072863,
+                0.012264410293229385,
+                0.1281600041063808,
+                -0.45847912449729633,
+                0.2289456846704372
+            ],
+            "target_pos": [
+                0.2041584551334381,
+                0.165558323264122,
+                0.09177036583423615
+            ],
+            "target_quat_wxyz": [
+                0.9791324138641357,
+                0.032429445534944534,
+                -0.14011703431606293,
+                0.143580362200737
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.18942382922343304,
+                -0.07850289639442978,
+                -0.04717355060385728,
+                0.14398751059559103,
+                -0.07844617886225151,
+                -0.06102413138853165,
+                -0.05478713520273579
+            ],
+            "target_pos": [
+                0.28886350989341736,
+                -0.16601476073265076,
+                0.11641283333301544
+            ],
+            "target_quat_wxyz": [
+                0.9948849678039551,
+                -0.07639243453741074,
+                -0.05967889726161957,
+                -0.02839958481490612
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000002_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 3,
+    "colors": {
+        "color_0": "colors/000003_color_0.jpg",
+        "color_2": "colors/000003_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.20441493391990662,
+                -0.05313805490732193,
+                0.012499546632170677,
+                0.0009946906939148903,
+                0.12676914036273956,
+                -0.46933677792549133,
+                0.2249046117067337
+            ],
+            "ee_pos": [
+                0.20053064823150635,
+                0.16169477999210358,
+                0.09499520808458328
+            ],
+            "ee_quat_wxyz": [
+                0.9812355041503906,
+                0.028033072128891945,
+                -0.13772282004356384,
+                0.1319980025291443
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.17867282032966614,
+                -0.08231963962316513,
+                -0.045947518199682236,
+                0.12770390510559082,
+                -0.08269115537405014,
+                -0.04967797175049782,
+                -0.051472727209329605
+            ],
+            "ee_pos": [
+                0.2839674949645996,
+                -0.16694049537181854,
+                0.11865700781345367
+            ],
+            "ee_quat_wxyz": [
+                0.9951852560043335,
+                -0.07890183478593826,
+                -0.05049758777022362,
+                -0.028824038803577423
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052031397819519,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280972957611084,
+                -0.07311122864484787,
+                0.19574934244155884,
+                0.5041086673736572,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060076043009757996,
+                -0.004392425995320082,
+                -0.07061329483985901,
+                0.2034681737422943,
+                -0.05295829102396965,
+                0.013110741972923279,
+                0.0011145329335704446,
+                0.1266373097896576,
+                -0.46926775574684143,
+                0.22498130798339844,
+                -0.17927202582359314,
+                -0.08218781650066376,
+                -0.045947518199682236,
+                0.12859073281288147,
+                -0.08260726183652878,
+                -0.04972399026155472,
+                -0.05148806795477867,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.18504078465258536,
+                -0.051035852354951,
+                0.03106440404929865,
+                0.019864687498934795,
+                0.126436839184736,
+                -0.4545689450924298,
+                0.23359625830021932
+            ],
+            "target_pos": [
+                0.20580095052719116,
+                0.1664825975894928,
+                0.0901174545288086
+            ],
+            "target_quat_wxyz": [
+                0.9787893295288086,
+                0.031518612056970596,
+                -0.13368941843509674,
+                0.15200385451316833
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.19676837688020343,
+                -0.07865885208063515,
+                -0.047974614430705866,
+                0.1564938612234188,
+                -0.08156065343812303,
+                -0.0654162211786987,
+                -0.05987855552181079
+            ],
+            "target_pos": [
+                0.2908672094345093,
+                -0.16620409488677979,
+                0.11637461185455322
+            ],
+            "target_quat_wxyz": [
+                0.994438111782074,
+                -0.07929101586341858,
+                -0.05902281403541565,
+                -0.036360003054142
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000003_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 4,
+    "colors": {
+        "color_0": "colors/000004_color_0.jpg",
+        "color_2": "colors/000004_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.19207118451595306,
+                -0.05192764848470688,
+                0.020361198112368584,
+                0.0037031255196779966,
+                0.12534300982952118,
+                -0.46832436323165894,
+                0.22617781162261963
+            ],
+            "ee_pos": [
+                0.20282946527004242,
+                0.16315631568431854,
+                0.09662117809057236
+            ],
+            "ee_quat_wxyz": [
+                0.9803082346916199,
+                0.028209500014781952,
+                -0.14154250919818878,
+                0.13478001952171326
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.18698987364768982,
+                -0.08140884339809418,
+                -0.04607934504747391,
+                0.14063487946987152,
+                -0.08257131278514862,
+                -0.052922338247299194,
+                -0.052623212337493896
+            ],
+            "ee_pos": [
+                0.285540908575058,
+                -0.16636264324188232,
+                0.11819985508918762
+            ],
+            "ee_quat_wxyz": [
+                0.9952825903892517,
+                -0.07829420268535614,
+                -0.049738865345716476,
+                -0.028436193242669106
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520447492599487,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.128137469291687,
+                -0.07311122864484787,
+                0.1957627236843109,
+                0.5040831565856934,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.06070546433329582,
+                -0.00435436749830842,
+                -0.0706382617354393,
+                0.19028553366661072,
+                -0.05185574293136597,
+                0.02123604714870453,
+                0.00430233683437109,
+                0.12530705332756042,
+                -0.46811726689338684,
+                0.2264232486486435,
+                -0.18794859945774078,
+                -0.08136090636253357,
+                -0.04617521911859512,
+                0.141809344291687,
+                -0.08259528130292892,
+                -0.053114086389541626,
+                -0.05291467159986496,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1798896089945397,
+                -0.05561632437714034,
+                0.03572887608120906,
+                0.026725574926008275,
+                0.12467420729116438,
+                -0.45103575736330725,
+                0.23778195936861476
+            ],
+            "target_pos": [
+                0.20582252740859985,
+                0.1656285673379898,
+                0.08938848227262497
+            ],
+            "target_quat_wxyz": [
+                0.9788576364517212,
+                0.02617194876074791,
+                -0.13101910054683685,
+                0.15487658977508545
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.20252010591105232,
+                -0.07792150021399838,
+                -0.05056024969920034,
+                0.1634337659725986,
+                -0.08119329336333814,
+                -0.06926029844080836,
+                -0.06390832697143434
+            ],
+            "target_pos": [
+                0.291018545627594,
+                -0.1665455549955368,
+                0.11809157580137253
+            ],
+            "target_quat_wxyz": [
+                0.9946436882019043,
+                -0.07321469485759735,
+                -0.062137093394994736,
+                -0.03824280574917793
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000004_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 5,
+    "colors": {
+        "color_0": "colors/000005_color_0.jpg",
+        "color_2": "colors/000005_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.18204037845134735,
+                -0.05219130218029022,
+                0.027000458911061287,
+                0.009695238433778286,
+                0.12489959597587585,
+                -0.466675341129303,
+                0.22837139666080475
+            ],
+            "ee_pos": [
+                0.2046683132648468,
+                0.1642036736011505,
+                0.09702687710523605
+            ],
+            "ee_quat_wxyz": [
+                0.9797827005386353,
+                0.028142636641860008,
+                -0.14234808087348938,
+                0.13773483037948608
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1922868937253952,
+                -0.08118113875389099,
+                -0.04748149961233139,
+                0.14856843650341034,
+                -0.08257131278514862,
+                -0.05650418624281883,
+                -0.05528467148542404
+            ],
+            "ee_pos": [
+                0.2865108549594879,
+                -0.16645769774913788,
+                0.1181810051202774
+            ],
+            "ee_quat_wxyz": [
+                0.9952447414398193,
+                -0.07796002179384232,
+                -0.05024365708231926,
+                -0.0297603290528059
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522589683532715,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.128110647201538,
+                -0.07311975210905075,
+                0.1957627236843109,
+                0.5040831565856934,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.061080437153577805,
+                -0.004301075357943773,
+                -0.07059308886528015,
+                0.18204037845134735,
+                -0.05219130218029022,
+                0.027000458911061287,
+                0.009695238433778286,
+                0.12489959597587585,
+                -0.466675341129303,
+                0.22837139666080475,
+                -0.1922868937253952,
+                -0.08118113875389099,
+                -0.04748149961233139,
+                0.14856843650341034,
+                -0.08257131278514862,
+                -0.05650418624281883,
+                -0.05528467148542404,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.17731033529284604,
+                -0.06118744799415839,
+                0.03557017785798496,
+                0.03437738503911546,
+                0.12224021615252859,
+                -0.4516952982857438,
+                0.2379763025609654
+            ],
+            "target_pos": [
+                0.20544838905334473,
+                0.16247650980949402,
+                0.08765716105699539
+            ],
+            "target_quat_wxyz": [
+                0.9799938797950745,
+                0.020867887884378433,
+                -0.1305423527956009,
+                0.1487790197134018
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.20691765128842202,
+                -0.07795327125570084,
+                -0.054329434469823426,
+                0.16722504870412275,
+                -0.07479391807136249,
+                -0.07357393593841366,
+                -0.06149197554446888
+            ],
+            "target_pos": [
+                0.2911781072616577,
+                -0.16768494248390198,
+                0.119221992790699
+            ],
+            "target_quat_wxyz": [
+                0.9951576590538025,
+                -0.06594257056713104,
+                -0.06506545096635818,
+                -0.03285280615091324
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000005_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 6,
+    "colors": {
+        "color_0": "colors/000006_color_0.jpg",
+        "color_2": "colors/000006_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.17348363995552063,
+                -0.054923705756664276,
+                0.03129081055521965,
+                0.01798832230269909,
+                0.12410863488912582,
+                -0.46507999300956726,
+                0.2324211150407791
+            ],
+            "ee_pos": [
+                0.20623530447483063,
+                0.16447074711322784,
+                0.09662938117980957
+            ],
+            "ee_quat_wxyz": [
+                0.9795113801956177,
+                0.026384618133306503,
+                -0.14130640029907227,
+                0.1410452276468277
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.19732026755809784,
+                -0.08096542209386826,
+                -0.04975850135087967,
+                0.15700533986091614,
+                -0.08108526468276978,
+                -0.06148195266723633,
+                -0.05781573802232742
+            ],
+            "ee_pos": [
+                0.28741320967674255,
+                -0.16677863895893097,
+                0.1181202232837677
+            ],
+            "ee_quat_wxyz": [
+                0.995241641998291,
+                -0.07681969553232193,
+                -0.051038261502981186,
+                -0.031431593000888824
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0526071786880493,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250059962272644,
+                0.009692373685538769,
+                -1.12833833694458,
+                -0.07310270518064499,
+                0.19574934244155884,
+                0.5040916204452515,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060906343162059784,
+                -0.004293464124202728,
+                -0.07057804614305496,
+                0.17282451689243317,
+                -0.055271245539188385,
+                0.03133874759078026,
+                0.018815234303474426,
+                0.12403672933578491,
+                -0.46489590406417847,
+                0.23289664089679718,
+                -0.19776368141174316,
+                -0.0809055045247078,
+                -0.05001017078757286,
+                0.15784423053264618,
+                -0.08096542209386826,
+                -0.061919137835502625,
+                -0.05799981579184532,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.17567709445952737,
+                -0.06730402764433077,
+                0.029030677841208115,
+                0.0471165958838793,
+                0.12709926003888727,
+                -0.4589212771639406,
+                0.238655037005098
+            ],
+            "target_pos": [
+                0.20576855540275574,
+                0.1570473462343216,
+                0.08450628817081451
+            ],
+            "target_quat_wxyz": [
+                0.9808437824249268,
+                0.02374388836324215,
+                -0.13202537596225739,
+                0.1412479430437088
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.21198614789622225,
+                -0.08203372733981988,
+                -0.05872152980310448,
+                0.17429031456462316,
+                -0.07081019530117413,
+                -0.07878244489609662,
+                -0.05880771765396779
+            ],
+            "target_pos": [
+                0.292815238237381,
+                -0.1706973761320114,
+                0.11870528757572174
+            ],
+            "target_quat_wxyz": [
+                0.99461430311203,
+                -0.07242170721292496,
+                -0.06580427289009094,
+                -0.0341649204492569
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000006_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 7,
+    "colors": {
+        "color_0": "colors/000007_color_0.jpg",
+        "color_2": "colors/000007_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.17049957811832428,
+                -0.0592859610915184,
+                0.030727554112672806,
+                0.024627583101391792,
+                0.12415657192468643,
+                -0.4646734893321991,
+                0.2349061667919159
+            ],
+            "ee_pos": [
+                0.2068113535642624,
+                0.16353267431259155,
+                0.0956420972943306
+            ],
+            "ee_quat_wxyz": [
+                0.9797390699386597,
+                0.02399826981127262,
+                -0.1390858143568039,
+                0.1420937329530716
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.20038822293281555,
+                -0.08110923320055008,
+                -0.05186772719025612,
+                0.16302141547203064,
+                -0.07902397960424423,
+                -0.06612991541624069,
+                -0.05816088616847992
+            ],
+            "ee_pos": [
+                0.287950336933136,
+                -0.16715140640735626,
+                0.1180465817451477
+            ],
+            "ee_quat_wxyz": [
+                0.9952661395072937,
+                -0.07564722746610641,
+                -0.05183885619044304,
+                -0.032179225236177444
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528616905212402,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1286062002182007,
+                -0.07311122864484787,
+                0.1957627236843109,
+                0.5040746331214905,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060558151453733444,
+                -0.004255392588675022,
+                -0.07047279924154282,
+                0.17047560214996338,
+                -0.06001700088381767,
+                0.030475884675979614,
+                0.02545449510216713,
+                0.12420450896024704,
+                -0.4646734893321991,
+                0.23495985567569733,
+                -0.2007237821817398,
+                -0.08109725266695023,
+                -0.0520474910736084,
+                0.16353674232959747,
+                -0.07876032590866089,
+                -0.06666681170463562,
+                -0.058168552815914154,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.17296239386414025,
+                -0.0744818206968723,
+                0.01936749157125463,
+                0.06090080869730588,
+                0.13439616753487418,
+                -0.46621681137565507,
+                0.24008008638004405
+            ],
+            "target_pos": [
+                0.20700104534626007,
+                0.15210670232772827,
+                0.08284210413694382
+            ],
+            "target_quat_wxyz": [
+                0.9816756248474121,
+                0.02204219624400139,
+                -0.1307610273361206,
+                0.1368527114391327
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.21864265141799533,
+                -0.08946701178016707,
+                -0.06402508329173896,
+                0.1827781169118731,
+                -0.07099861887704054,
+                -0.08203173735464853,
+                -0.05894295434125599
+            ],
+            "target_pos": [
+                0.29475855827331543,
+                -0.17437192797660828,
+                0.1196288987994194
+            ],
+            "target_quat_wxyz": [
+                0.9937050938606262,
+                -0.08095880597829819,
+                -0.06556451320648193,
+                -0.041197046637535095
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000007_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 8,
+    "colors": {
+        "color_0": "colors/000008_color_0.jpg",
+        "color_2": "colors/000008_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.16978052258491516,
+                -0.061706773936748505,
+                0.027815386652946472,
+                0.03317233547568321,
+                0.1255347579717636,
+                -0.4657089114189148,
+                0.23567314445972443
+            ],
+            "ee_pos": [
+                0.20694872736930847,
+                0.16228334605693817,
+                0.09397389739751816
+            ],
+            "ee_quat_wxyz": [
+                0.9804065227508545,
+                0.023112772032618523,
+                -0.13575632870197296,
+                0.1408511996269226
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.203623965382576,
+                -0.0821278989315033,
+                -0.05396496504545212,
+                0.1688697189092636,
+                -0.07798135280609131,
+                -0.07083156704902649,
+                -0.05814554542303085
+            ],
+            "ee_pos": [
+                0.28852003812789917,
+                -0.16767500340938568,
+                0.11810161173343658
+            ],
+            "ee_quat_wxyz": [
+                0.995210587978363,
+                -0.07541117817163467,
+                -0.05286194384098053,
+                -0.032782312482595444
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053049087524414,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622595727443695,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1288070678710938,
+                -0.07311122864484787,
+                0.19582968950271606,
+                0.5040320158004761,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.06034388020634651,
+                -0.0041259764693677425,
+                -0.07036738097667694,
+                0.16978052258491516,
+                -0.061706773936748505,
+                0.027815386652946472,
+                0.03317233547568321,
+                0.1255347579717636,
+                -0.4657089114189148,
+                0.23567314445972443,
+                -0.203623965382576,
+                -0.0821278989315033,
+                -0.05396496504545212,
+                0.1688697189092636,
+                -0.07798135280609131,
+                -0.07083156704902649,
+                -0.05814554542303085,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.16908674772637247,
+                -0.08417584380915458,
+                0.00839050225185896,
+                0.07120794264599811,
+                0.13904777565954626,
+                -0.4701132405657136,
+                0.24171511624815203
+            ],
+            "target_pos": [
+                0.20831632614135742,
+                0.1469874083995819,
+                0.083283931016922
+            ],
+            "target_quat_wxyz": [
+                0.9823859333992004,
+                0.012633198872208595,
+                -0.12964753806591034,
+                0.13397671282291412
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.22602534921101408,
+                -0.09863740447073119,
+                -0.07202856050603848,
+                0.18829810155815208,
+                -0.06899087441155305,
+                -0.0820036030044364,
+                -0.05783978795850269
+            ],
+            "target_pos": [
+                0.2959408760070801,
+                -0.17883294820785522,
+                0.12258473038673401
+            ],
+            "target_quat_wxyz": [
+                0.9935682415962219,
+                -0.07989904284477234,
+                -0.06667723506689072,
+                -0.04463627189397812
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000008_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 9,
+    "colors": {
+        "color_0": "colors/000009_color_0.jpg",
+        "color_2": "colors/000009_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.16846226155757904,
+                -0.062198128551244736,
+                0.02232661098241806,
+                0.04840428754687309,
+                0.1270567625761032,
+                -0.4662458002567291,
+                0.23630207777023315
+            ],
+            "ee_pos": [
+                0.20718923211097717,
+                0.1605881303548813,
+                0.09093758463859558
+            ],
+            "ee_quat_wxyz": [
+                0.9817189574241638,
+                0.023003049194812775,
+                -0.12935160100460052,
+                0.1377205103635788
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2085854411125183,
+                -0.08590292930603027,
+                -0.058219365775585175,
+                0.1784570962190628,
+                -0.07709451764822006,
+                -0.0741526335477829,
+                -0.05786175653338432
+            ],
+            "ee_pos": [
+                0.2894306480884552,
+                -0.16928167641162872,
+                0.1177968978881836
+            ],
+            "ee_quat_wxyz": [
+                0.9951068162918091,
+                -0.07646141946315765,
+                -0.05226831138134003,
+                -0.03441108018159866
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053049087524414,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.128566026687622,
+                -0.07312827557325363,
+                0.19593682885169983,
+                0.5040320158004761,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06019657105207443,
+                -0.004118361975997686,
+                -0.07037238031625748,
+                0.16831845045089722,
+                -0.06217416003346443,
+                0.021631525829434395,
+                0.050285808742046356,
+                0.12724851071834564,
+                -0.4662611484527588,
+                0.23634043335914612,
+                -0.20914870500564575,
+                -0.08633435517549515,
+                -0.05874667316675186,
+                0.1796315461397171,
+                -0.07697467505931854,
+                -0.07414496690034866,
+                -0.05786175653338432,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.164191634835578,
+                -0.09449817669236271,
+                -0.00362248631972501,
+                0.07808702526312133,
+                0.13866456903460103,
+                -0.4712102636794757,
+                0.24137846300586102
+            ],
+            "target_pos": [
+                0.20970822870731354,
+                0.14187705516815186,
+                0.08412672579288483
+            ],
+            "target_quat_wxyz": [
+                0.9834359288215637,
+                0.0016869999235495925,
+                -0.12922370433807373,
+                0.12709100544452667
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.23318887691003887,
+                -0.10853983842533166,
+                -0.0820722293678495,
+                0.1893471213871662,
+                -0.0639116040571962,
+                -0.07987723518917872,
+                -0.05467725007444392
+            ],
+            "target_pos": [
+                0.29664716124534607,
+                -0.18327058851718903,
+                0.12629617750644684
+            ],
+            "target_quat_wxyz": [
+                0.9934704303741455,
+                -0.07779531180858612,
+                -0.0693935751914978,
+                -0.04635623097419739
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000009_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 10,
+    "colors": {
+        "color_0": "colors/000010_color_0.jpg",
+        "color_2": "colors/000010_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.16738367080688477,
+                -0.062305986881256104,
+                0.013530190102756023,
+                0.06163487210869789,
+                0.1276559680700302,
+                -0.4662458002567291,
+                0.23653985559940338
+            ],
+            "ee_pos": [
+                0.20745337009429932,
+                0.15822157263755798,
+                0.08829444646835327
+            ],
+            "ee_quat_wxyz": [
+                0.9831205606460571,
+                0.022229038178920746,
+                -0.1236443743109703,
+                0.13301104307174683
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2136307954788208,
+                -0.09169130772352219,
+                -0.06478672474622726,
+                0.18331070244312286,
+                -0.07372695207595825,
+                -0.07414496690034866,
+                -0.05720214545726776
+            ],
+            "ee_pos": [
+                0.29035240411758423,
+                -0.17186975479125977,
+                0.11845109611749649
+            ],
+            "ee_quat_wxyz": [
+                0.9949454069137573,
+                -0.07705088704824448,
+                -0.052479688078165054,
+                -0.03731855750083923
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0530892610549927,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128458857536316,
+                -0.07311122864484787,
+                0.1959100365638733,
+                0.5040064454078674,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0602099634706974,
+                -0.004224924370646477,
+                -0.07018227130174637,
+                0.16739565134048462,
+                -0.06229400262236595,
+                0.01224787812680006,
+                0.06303702294826508,
+                0.12766794860363007,
+                -0.4662458002567291,
+                0.23657819628715515,
+                -0.21461351215839386,
+                -0.09290171414613724,
+                -0.06556569784879684,
+                0.18379007279872894,
+                -0.07280416786670685,
+                -0.07414496690034866,
+                -0.05710243806242943,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1582000652369125,
+                -0.10159525984753984,
+                -0.017165727769177103,
+                0.08593112252375104,
+                0.13911815185828624,
+                -0.4737031207187332,
+                0.23973536472503504
+            ],
+            "target_pos": [
+                0.2111975997686386,
+                0.1366705745458603,
+                0.08375248312950134
+            ],
+            "target_quat_wxyz": [
+                0.9844573140144348,
+                0.0012432081857696176,
+                -0.1319485604763031,
+                0.11589566618204117
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.23936638735633955,
+                -0.11905858733343105,
+                -0.0926654958641672,
+                0.18780432227036906,
+                -0.057797539322341565,
+                -0.07830830351757101,
+                -0.050723831072336883
+            ],
+            "target_pos": [
+                0.29728421568870544,
+                -0.18777598440647125,
+                0.12928685545921326
+            ],
+            "target_quat_wxyz": [
+                0.9928244352340698,
+                -0.08005025237798691,
+                -0.07363627105951309,
+                -0.04969175159931183
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000010_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 11,
+    "colors": {
+        "color_0": "colors/000011_color_0.jpg",
+        "color_2": "colors/000011_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.16623318195343018,
+                -0.062246065586805344,
+                0.003906857222318649,
+                0.06895723193883896,
+                0.12800350785255432,
+                -0.4663378596305847,
+                0.2363557666540146
+            ],
+            "ee_pos": [
+                0.2078038454055786,
+                0.15574359893798828,
+                0.0870128944516182
+            ],
+            "ee_quat_wxyz": [
+                0.9841573238372803,
+                0.02119341865181923,
+                -0.1209537461400032,
+                0.12788811326026917
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2196468859910965,
+                -0.09940914809703827,
+                -0.0728161558508873,
+                0.18454508483409882,
+                -0.06711166352033615,
+                -0.07414496690034866,
+                -0.05471709743142128
+            ],
+            "ee_pos": [
+                0.29142341017723083,
+                -0.17503708600997925,
+                0.12035752087831497
+            ],
+            "ee_quat_wxyz": [
+                0.9947179555892944,
+                -0.07680883258581161,
+                -0.05500618740916252,
+                -0.040135547518730164
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053102731704712,
+                -0.1274346113204956,
+                -0.0026382035575807095,
+                0.2622510492801666,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1283249855041504,
+                -0.07311975210905075,
+                0.1958564668893814,
+                0.5039382576942444,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05984838306903839,
+                -0.004339104052633047,
+                -0.0701073631644249,
+                0.165777787566185,
+                -0.06217416003346443,
+                0.0017736653098836541,
+                0.07046724110841751,
+                0.12802748382091522,
+                -0.46636852622032166,
+                0.23636344075202942,
+                -0.22131268680095673,
+                -0.10123074799776077,
+                -0.07522498071193695,
+                0.18462897837162018,
+                -0.06627276539802551,
+                -0.0741296261548996,
+                -0.05398845672607422,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14987626742926544,
+                -0.1035541143602623,
+                -0.030702146189080293,
+                0.0984845935871917,
+                0.14333826714002473,
+                -0.4787231811859709,
+                0.2378444668360329
+            ],
+            "target_pos": [
+                0.2134387344121933,
+                0.13264603912830353,
+                0.08230665326118469
+            ],
+            "target_quat_wxyz": [
+                0.9853326678276062,
+                0.006546712480485439,
+                -0.13490192592144012,
+                0.10429822653532028
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2447339111487833,
+                -0.1295238737304672,
+                -0.10330288936861984,
+                0.18709743099171056,
+                -0.05112965905798733,
+                -0.07867634980861082,
+                -0.047178401161373715
+            ],
+            "target_pos": [
+                0.2979836165904999,
+                -0.19218310713768005,
+                0.1312507688999176
+            ],
+            "target_quat_wxyz": [
+                0.9922010898590088,
+                -0.0812639445066452,
+                -0.0772848129272461,
+                -0.05440840870141983
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000011_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 12,
+    "colors": {
+        "color_0": "colors/000012_color_0.jpg",
+        "color_2": "colors/000012_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.16267387568950653,
+                -0.06187455356121063,
+                -0.008041415363550186,
+                0.07782556116580963,
+                0.12895026803016663,
+                -0.4683857262134552,
+                0.23629441857337952
+            ],
+            "ee_pos": [
+                0.20860618352890015,
+                0.15256381034851074,
+                0.08608823269605637
+            ],
+            "ee_quat_wxyz": [
+                0.9851827025413513,
+                0.020057788118720055,
+                -0.11972979456186295,
+                0.12115074694156647
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2284552901983261,
+                -0.10915232449769974,
+                -0.08548347651958466,
+                0.18486866354942322,
+                -0.06049636751413345,
+                -0.0742216631770134,
+                -0.05128864943981171
+            ],
+            "ee_pos": [
+                0.29291853308677673,
+                -0.1794917732477188,
+                0.1235218346118927
+            ],
+            "ee_quat_wxyz": [
+                0.9942437410354614,
+                -0.0770796611905098,
+                -0.05953923985362053,
+                -0.04464500769972801
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0530892610549927,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1281508207321167,
+                -0.07311122864484787,
+                0.19584308564662933,
+                0.503963828086853,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.059085045009851456,
+                -0.004301045555621386,
+                -0.07013233006000519,
+                0.16267387568950653,
+                -0.06187455356121063,
+                -0.008041415363550186,
+                0.07782556116580963,
+                0.12895026803016663,
+                -0.4683857262134552,
+                0.23629441857337952,
+                -0.2284552901983261,
+                -0.10915232449769974,
+                -0.08548347651958466,
+                0.18486866354942322,
+                -0.06049636751413345,
+                -0.0742216631770134,
+                -0.05128864943981171,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1350426771123537,
+                -0.09521241021934096,
+                -0.03765294615564076,
+                0.11786781783977278,
+                0.140145873435768,
+                -0.48314465872668905,
+                0.22855147124424513
+            ],
+            "target_pos": [
+                0.2183469980955124,
+                0.1354018598794937,
+                0.08033567667007446
+            ],
+            "target_quat_wxyz": [
+                0.9867501854896545,
+                0.008562586270272732,
+                -0.13465924561023712,
+                0.09009777009487152
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.24593539837409706,
+                -0.13399960580446924,
+                -0.11296056791469739,
+                0.18439934886317294,
+                -0.04655711319990263,
+                -0.0803453490051019,
+                -0.04973080278841889
+            ],
+            "target_pos": [
+                0.2964993119239807,
+                -0.19371959567070007,
+                0.13166183233261108
+            ],
+            "target_quat_wxyz": [
+                0.9917061924934387,
+                -0.07712630182504654,
+                -0.07966173440217972,
+                -0.06499503552913666
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000012_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 13,
+    "colors": {
+        "color_0": "colors/000013_color_0.jpg",
+        "color_2": "colors/000013_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.15718509256839752,
+                -0.06081994250416756,
+                -0.018551580607891083,
+                0.09217067807912827,
+                0.1296813040971756,
+                -0.4726732075214386,
+                0.23459936678409576
+            ],
+            "ee_pos": [
+                0.20960672199726105,
+                0.14956718683242798,
+                0.0845196396112442
+            ],
+            "ee_quat_wxyz": [
+                0.9863154888153076,
+                0.01943167671561241,
+                -0.1177828386425972,
+                0.11371621489524841
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.23759925365447998,
+                -0.11870375275611877,
+                -0.09631721675395966,
+                0.18452110886573792,
+                -0.056050222367048264,
+                -0.07514205574989319,
+                -0.05085146427154541
+            ],
+            "ee_pos": [
+                0.2944120466709137,
+                -0.18351759016513824,
+                0.12706786394119263
+            ],
+            "ee_quat_wxyz": [
+                0.993556022644043,
+                -0.07833186537027359,
+                -0.06517093628644943,
+                -0.049631085246801376
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0529152154922485,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1281241178512573,
+                -0.07311975210905075,
+                0.19593682885169983,
+                0.5039808750152588,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.058790422976017,
+                -0.004179251845926046,
+                -0.07022225111722946,
+                0.1560945361852646,
+                -0.06070009991526604,
+                -0.019893813878297806,
+                0.095058873295784,
+                0.12978915870189667,
+                -0.47277289628982544,
+                0.23438461124897003,
+                -0.23901338875293732,
+                -0.1200220137834549,
+                -0.0978272333741188,
+                0.18450912833213806,
+                -0.05530719831585884,
+                -0.07534913718700409,
+                -0.050889816135168076,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12255349177977612,
+                -0.09318364957158912,
+                -0.04666722017017591,
+                0.1365337334492661,
+                0.1445135031146139,
+                -0.4876575283829504,
+                0.228965912531364
+            ],
+            "target_pos": [
+                0.2192748337984085,
+                0.12866079807281494,
+                0.07948710024356842
+            ],
+            "target_quat_wxyz": [
+                0.9867501854896545,
+                0.008562586270272732,
+                -0.13465924561023712,
+                0.09009777009487152
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.24403309870394346,
+                -0.1367431994292998,
+                -0.12066998974265027,
+                0.18530541793420058,
+                -0.04430709660044956,
+                -0.0854648170591955,
+                -0.0538980882389727
+            ],
+            "target_pos": [
+                0.2953885495662689,
+                -0.1960960328578949,
+                0.12972261011600494
+            ],
+            "target_quat_wxyz": [
+                0.9912227392196655,
+                -0.07817906886339188,
+                -0.08031438291072845,
+                -0.07010797411203384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000013_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 14,
+    "colors": {
+        "color_0": "colors/000014_color_0.jpg",
+        "color_2": "colors/000014_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1482808142900467,
+                -0.05981326848268509,
+                -0.028846031054854393,
+                0.11114170402288437,
+                0.13024455308914185,
+                -0.4753960072994232,
+                0.2340778112411499
+            ],
+            "ee_pos": [
+                0.2112014889717102,
+                0.1464248150587082,
+                0.08247174322605133
+            ],
+            "ee_quat_wxyz": [
+                0.9875406622886658,
+                0.01879536174237728,
+                -0.11440835148096085,
+                0.10639965534210205
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.24390295147895813,
+                -0.12681707739830017,
+                -0.10603642463684082,
+                0.18423350155353546,
+                -0.051364388316869736,
+                -0.07879292964935303,
+                -0.05148039758205414
+            ],
+            "ee_pos": [
+                0.2953159511089325,
+                -0.18717952072620392,
+                0.13000792264938354
+            ],
+            "ee_quat_wxyz": [
+                0.9928662180900574,
+                -0.0788751095533371,
+                -0.07077199220657349,
+                -0.054650794714689255
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.05287504196167,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281241178512573,
+                -0.07310270518064499,
+                0.19593682885169983,
+                0.5040234923362732,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05884398892521858,
+                -0.004354344215244055,
+                -0.07034778594970703,
+                0.14723819494247437,
+                -0.05974136292934418,
+                -0.029948579147458076,
+                0.11297529190778732,
+                0.13029249012470245,
+                -0.4756031036376953,
+                0.23403945565223694,
+                -0.2443583458662033,
+                -0.1275840550661087,
+                -0.10695920884609222,
+                0.1841735690832138,
+                -0.05050152540206909,
+                -0.07955224812030792,
+                -0.051587775349617004,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10759962250564045,
+                -0.08015166158711559,
+                -0.046552419619357174,
+                0.14757252177025815,
+                0.13961775683550395,
+                -0.48686022609220536,
+                0.22103696576170617
+            ],
+            "target_pos": [
+                0.22331452369689941,
+                0.13667690753936768,
+                0.08249982446432114
+            ],
+            "target_quat_wxyz": [
+                0.9871265888214111,
+                0.01567159593105316,
+                -0.13711872696876526,
+                0.0808330699801445
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.24020834860181944,
+                -0.1367071620200171,
+                -0.12690724484864077,
+                0.18795655831708535,
+                -0.04390223998709589,
+                -0.0896800974673905,
+                -0.061366187315020804
+            ],
+            "target_pos": [
+                0.29428428411483765,
+                -0.19763915240764618,
+                0.1274539977312088
+            ],
+            "target_quat_wxyz": [
+                0.9908615946769714,
+                -0.0776132121682167,
+                -0.07704291492700577,
+                -0.07895509898662567
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000014_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 15,
+    "colors": {
+        "color_0": "colors/000015_color_0.jpg",
+        "color_2": "colors/000015_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13558952510356903,
+                -0.058351192623376846,
+                -0.03542536869645119,
+                0.13017265498638153,
+                0.13008876144886017,
+                -0.47722911834716797,
+                0.22926877439022064
+            ],
+            "ee_pos": [
+                0.21356582641601562,
+                0.1438589245080948,
+                0.08106150478124619
+            ],
+            "ee_quat_wxyz": [
+                0.9886325597763062,
+                0.018705373629927635,
+                -0.1121939942240715,
+                0.09832759946584702
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.24499352276325226,
+                -0.13066400587558746,
+                -0.1161031723022461,
+                0.1838260293006897,
+                -0.04772118479013443,
+                -0.08476011455059052,
+                -0.05379670858383179
+            ],
+            "ee_pos": [
+                0.2951943576335907,
+                -0.19042785465717316,
+                0.1314905732870102
+            ],
+            "ee_quat_wxyz": [
+                0.9922800660133362,
+                -0.07795142382383347,
+                -0.07493738830089569,
+                -0.060730546712875366
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528348684310913,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1282579898834229,
+                -0.07308565825223923,
+                0.19586986303329468,
+                0.5040064454078674,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.05884398892521858,
+                -0.004643603693693876,
+                -0.07015816867351532,
+                0.1339476853609085,
+                -0.05824333429336548,
+                -0.03600061312317848,
+                0.13189838826656342,
+                0.1300288438796997,
+                -0.47724446654319763,
+                0.22860150039196014,
+                -0.24499352276325226,
+                -0.13079583644866943,
+                -0.11710985004901886,
+                0.18381404876708984,
+                -0.0475534051656723,
+                -0.08497487008571625,
+                -0.05412651598453522,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.09551106434570283,
+                -0.06754879274212114,
+                -0.044236480651367,
+                0.15057069487978697,
+                0.13319358453904048,
+                -0.48541422108860777,
+                0.21258084097852692
+            ],
+            "target_pos": [
+                0.22476482391357422,
+                0.1387799233198166,
+                0.08566229045391083
+            ],
+            "target_quat_wxyz": [
+                0.9867619276046753,
+                0.01755516231060028,
+                -0.14168761670589447,
+                0.07692410051822662
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.23406660082468583,
+                -0.13317717134458987,
+                -0.13271915949186275,
+                0.1885504457122666,
+                -0.04095972040743798,
+                -0.09186569020919513,
+                -0.06763859023572778
+            ],
+            "target_pos": [
+                0.29233765602111816,
+                -0.19822323322296143,
+                0.12562911212444305
+            ],
+            "target_quat_wxyz": [
+                0.991327166557312,
+                -0.06959769129753113,
+                -0.07325959205627441,
+                -0.0840219110250473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000015_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 16,
+    "colors": {
+        "color_0": "colors/000016_color_0.jpg",
+        "color_2": "colors/000016_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1224188581109047,
+                -0.0571647547185421,
+                -0.0385173000395298,
+                0.1395922601222992,
+                0.129130020737648,
+                -0.4772137701511383,
+                0.22258830070495605
+            ],
+            "ee_pos": [
+                0.2162502557039261,
+                0.14213605225086212,
+                0.0817006379365921
+            ],
+            "ee_quat_wxyz": [
+                0.9891002774238586,
+                0.018428198993206024,
+                -0.11385899037122726,
+                0.09152699261903763
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2443104088306427,
+                -0.1309036910533905,
+                -0.12414459139108658,
+                0.18386198580265045,
+                -0.04577973857522011,
+                -0.0860716700553894,
+                -0.05801515653729439
+            ],
+            "ee_pos": [
+                0.2948322892189026,
+                -0.19269177317619324,
+                0.13165536522865295
+            ],
+            "ee_quat_wxyz": [
+                0.9919713139533997,
+                -0.07627980411052704,
+                -0.07555647939443588,
+                -0.06682433187961578
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052982211112976,
+                -0.12746016681194305,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1285392045974731,
+                -0.07311122864484787,
+                0.19586986303329468,
+                0.5040575861930847,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.059741247445344925,
+                -0.004689261317253113,
+                -0.06989786773920059,
+                0.12131631374359131,
+                -0.05717673897743225,
+                -0.038661111146211624,
+                0.14015550911426544,
+                0.1291060596704483,
+                -0.47720611095428467,
+                0.22203606367111206,
+                -0.24416659772396088,
+                -0.1308797299861908,
+                -0.12469586730003357,
+                0.1838739663362503,
+                -0.04574378952383995,
+                -0.0860946774482727,
+                -0.05850603058934212,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.08653184264452976,
+                -0.056562905967414756,
+                -0.040011667015878064,
+                0.14843170803599864,
+                0.12644572621490596,
+                -0.4839441276137253,
+                0.20420609744593093
+            ],
+            "target_pos": [
+                0.225938081741333,
+                0.14140905439853668,
+                0.08801146596670151
+            ],
+            "target_quat_wxyz": [
+                0.9863767623901367,
+                0.018610410392284393,
+                -0.14518174529075623,
+                0.07507895678281784
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.22602395894212599,
+                -0.12757794029382463,
+                -0.1374981069267707,
+                0.18641079265346416,
+                -0.03419534974180706,
+                -0.09220337135353715,
+                -0.06915885899369759
+            ],
+            "target_pos": [
+                0.29001617431640625,
+                -0.19787439703941345,
+                0.12372859567403793
+            ],
+            "target_quat_wxyz": [
+                0.9922940731048584,
+                -0.05959968641400337,
+                -0.06952103972434998,
+                -0.08346983790397644
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000016_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 17,
+    "colors": {
+        "color_0": "colors/000017_color_0.jpg",
+        "color_2": "colors/000017_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10700714588165283,
+                -0.05621800199151039,
+                -0.039092544466257095,
+                0.14080266654491425,
+                0.12652945518493652,
+                -0.4772137701511383,
+                0.21417440474033356
+            ],
+            "ee_pos": [
+                0.21956080198287964,
+                0.1409272700548172,
+                0.08463440090417862
+            ],
+            "ee_quat_wxyz": [
+                0.9888849854469299,
+                0.01725251041352749,
+                -0.12046033889055252,
+                0.08542928844690323
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.24081102013587952,
+                -0.13052019476890564,
+                -0.12981313467025757,
+                0.18393388390541077,
+                -0.04290352761745453,
+                -0.0867389515042305,
+                -0.06339175999164581
+            ],
+            "ee_pos": [
+                0.29400646686553955,
+                -0.19454580545425415,
+                0.13085441291332245
+            ],
+            "ee_quat_wxyz": [
+                0.9918133020401001,
+                -0.07412673532962799,
+                -0.0744422897696495,
+                -0.07259466499090195
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053049087524414,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1288070678710938,
+                -0.07311122864484787,
+                0.1958564668893814,
+                0.5039467811584473,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.059888556599617004,
+                -0.004537004511803389,
+                -0.06975723803043365,
+                0.10700714588165283,
+                -0.05621800199151039,
+                -0.039092544466257095,
+                0.14080266654491425,
+                0.12652945518493652,
+                -0.4772137701511383,
+                0.21417440474033356,
+                -0.24081102013587952,
+                -0.13052019476890564,
+                -0.12981313467025757,
+                0.18393388390541077,
+                -0.04290352761745453,
+                -0.0867389515042305,
+                -0.06339175999164581,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.07829973660767404,
+                -0.0457370610522372,
+                -0.03314618935907452,
+                0.14693801722358027,
+                0.12202347828118057,
+                -0.4825190515038422,
+                0.19701539445691663
+            ],
+            "target_pos": [
+                0.2274446040391922,
+                0.14429815113544464,
+                0.0889289602637291
+            ],
+            "target_quat_wxyz": [
+                0.9858632683753967,
+                0.024900127202272415,
+                -0.14725957810878754,
+                0.07594869285821915
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.21676093530729285,
+                -0.12096530146386125,
+                -0.139532307140683,
+                0.18159839962597113,
+                -0.027923176172722927,
+                -0.09047504106507331,
+                -0.06970911821273917
+            ],
+            "target_pos": [
+                0.28791099786758423,
+                -0.1967042237520218,
+                0.12182881683111191
+            ],
+            "target_quat_wxyz": [
+                0.9928339123725891,
+                -0.055407702922821045,
+                -0.06518586724996567,
+                -0.08343613147735596
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000017_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 18,
+    "colors": {
+        "color_0": "colors/000018_color_0.jpg",
+        "color_2": "colors/000018_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.09161940217018127,
+                -0.05291035398840904,
+                -0.037043239921331406,
+                0.14075472950935364,
+                0.12451609969139099,
+                -0.4772367775440216,
+                0.20767800509929657
+            ],
+            "ee_pos": [
+                0.22279776632785797,
+                0.1408475935459137,
+                0.08785422146320343
+            ],
+            "ee_quat_wxyz": [
+                0.9883207678794861,
+                0.017670949921011925,
+                -0.12771205604076385,
+                0.08123669773340225
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.23533423244953156,
+                -0.12904614210128784,
+                -0.1332526057958603,
+                0.18333467841148376,
+                -0.037714358419179916,
+                -0.08693069219589233,
+                -0.06586913764476776
+            ],
+            "ee_pos": [
+                0.29288968443870544,
+                -0.19564633071422577,
+                0.1294489949941635
+            ],
+            "ee_quat_wxyz": [
+                0.9919707179069519,
+                -0.07069335877895355,
+                -0.0722716823220253,
+                -0.07598282396793365
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0529285669326782,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1289544105529785,
+                -0.07310270518064499,
+                0.19589665532112122,
+                0.5040149688720703,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.059888556599617004,
+                -0.004399979021400213,
+                -0.06972686201334,
+                0.09161940217018127,
+                -0.05291035398840904,
+                -0.037043239921331406,
+                0.14075472950935364,
+                0.12451609969139099,
+                -0.4772367775440216,
+                0.20767800509929657,
+                -0.23533423244953156,
+                -0.12904614210128784,
+                -0.1332526057958603,
+                0.18333467841148376,
+                -0.037714358419179916,
+                -0.08693069219589233,
+                -0.06586913764476776,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.07390170260876652,
+                -0.04340070417894209,
+                -0.031165509051429695,
+                0.1458561176749754,
+                0.12365880426424405,
+                -0.48152768852869865,
+                0.1954925927166744
+            ],
+            "target_pos": [
+                0.22738495469093323,
+                0.14146678149700165,
+                0.08929755538702011
+            ],
+            "target_quat_wxyz": [
+                0.9858632683753967,
+                0.024900127202272415,
+                -0.14725957810878754,
+                0.07594869285821915
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.21081547133087783,
+                -0.11959858294487921,
+                -0.14245381686529557,
+                0.1783139829522545,
+                -0.021251663671861938,
+                -0.08908470295055249,
+                -0.06713487381250566
+            ],
+            "target_pos": [
+                0.28785136342048645,
+                -0.19953559339046478,
+                0.12219741195440292
+            ],
+            "target_quat_wxyz": [
+                0.9928339123725891,
+                -0.055407702922821045,
+                -0.06518586724996567,
+                -0.08343613147735596
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000018_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 19,
+    "colors": {
+        "color_0": "colors/000019_color_0.jpg",
+        "color_2": "colors/000019_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.07618372142314911,
+                -0.04879976436495781,
+                -0.03374757990241051,
+                0.1405390053987503,
+                0.12451609969139099,
+                -0.47741320729255676,
+                0.20270022749900818
+            ],
+            "ee_pos": [
+                0.2259780615568161,
+                0.14118309319019318,
+                0.09118495881557465
+            ],
+            "ee_quat_wxyz": [
+                0.9875468611717224,
+                0.01946367882192135,
+                -0.13524290919303894,
+                0.07798546552658081
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.2299293428659439,
+                -0.1263377070426941,
+                -0.1350981742143631,
+                0.18283134698867798,
+                -0.03205780312418938,
+                -0.0869000181555748,
+                -0.06677418947219849
+            ],
+            "ee_pos": [
+                0.29183775186538696,
+                -0.19601409137248993,
+                0.12788492441177368
+            ],
+            "ee_quat_wxyz": [
+                0.9922919273376465,
+                -0.06662013381719589,
+                -0.06982380896806717,
+                -0.07773789018392563
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052982211112976,
+                -0.1274431198835373,
+                -0.0026382035575807095,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1293561458587646,
+                -0.07311975210905075,
+                0.1959100365638733,
+                0.5039808750152588,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06087955832481384,
+                -0.004011742305010557,
+                -0.06967102736234665,
+                0.07502125203609467,
+                -0.048524126410484314,
+                -0.03350789472460747,
+                0.14052702486515045,
+                0.12450411915779114,
+                -0.47740551829338074,
+                0.20219402015209198,
+                -0.22946196794509888,
+                -0.12608602643013,
+                -0.13518206775188446,
+                0.18283134698867798,
+                -0.03145859017968178,
+                -0.08689234405755997,
+                -0.06676651537418365,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.06540924604022744,
+                -0.03606116746351018,
+                -0.019848233096989205,
+                0.1523008019323514,
+                0.1224763659474043,
+                -0.4808207780038494,
+                0.19612869044997727
+            ],
+            "target_pos": [
+                0.23050810396671295,
+                0.15058736503124237,
+                0.08829542249441147
+            ],
+            "target_quat_wxyz": [
+                0.9847808480262756,
+                0.03174683079123497,
+                -0.14714866876602173,
+                0.08686849474906921
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.19859306297127316,
+                -0.11537366959113425,
+                -0.13681062035006608,
+                0.17177002159519644,
+                -0.021878898019868018,
+                -0.08904040797840587,
+                -0.06587221928085142
+            ],
+            "target_pos": [
+                0.2834906578063965,
+                -0.19397327303886414,
+                0.11796029657125473
+            ],
+            "target_quat_wxyz": [
+                0.9935072660446167,
+                -0.05883633717894554,
+                -0.059527505189180374,
+                -0.0770585760474205
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000019_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 20,
+    "colors": {
+        "color_0": "colors/000020_color_0.jpg",
+        "color_2": "colors/000020_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.06675213575363159,
+                -0.04549212008714676,
+                -0.027647607028484344,
+                0.14064686000347137,
+                0.12392887473106384,
+                -0.47740551829338074,
+                0.20008479058742523
+            ],
+            "ee_pos": [
+                0.22787584364414215,
+                0.14255361258983612,
+                0.09313232451677322
+            ],
+            "ee_quat_wxyz": [
+                0.9868959188461304,
+                0.021087871864438057,
+                -0.13954223692417145,
+                0.07822849601507187
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.22277475893497467,
+                -0.12407268583774567,
+                -0.13523000478744507,
+                0.18012291193008423,
+                -0.027827370911836624,
+                -0.08689234405755997,
+                -0.06681253761053085
+            ],
+            "ee_pos": [
+                0.2904908061027527,
+                -0.19609574973583221,
+                0.12634119391441345
+            ],
+            "ee_quat_wxyz": [
+                0.9925832152366638,
+                -0.06374464929103851,
+                -0.06759333610534668,
+                -0.07839839905500412
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0529420375823975,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.2622510492801666,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.129637360572815,
+                -0.07311122864484787,
+                0.19593682885169983,
+                0.5039553046226501,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06156254559755325,
+                -0.0037148562259972095,
+                -0.0696253851056099,
+                0.0661768913269043,
+                -0.045228466391563416,
+                -0.027288081124424934,
+                0.14061091840267181,
+                0.12389291822910309,
+                -0.47740551829338074,
+                0.19996973872184753,
+                -0.22222349047660828,
+                -0.12385696917772293,
+                -0.13520602881908417,
+                0.17978735268115997,
+                -0.027539748698472977,
+                -0.08690768480300903,
+                -0.06682020425796509,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.05763118842677632,
+                -0.03189858812683854,
+                -0.008064162845231192,
+                0.15892769181867478,
+                0.11980087988932349,
+                -0.47816400034157747,
+                0.19849087988640363
+            ],
+            "target_pos": [
+                0.23167650401592255,
+                0.15282398462295532,
+                0.08806672692298889
+            ],
+            "target_quat_wxyz": [
+                0.9846128821372986,
+                0.02950148656964302,
+                -0.1443159133195877,
+                0.09402155876159668
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1881609306613506,
+                -0.1121883554732544,
+                -0.13174419770439771,
+                0.16559220103746985,
+                -0.023848089586031358,
+                -0.08677481858901193,
+                -0.06673131186578693
+            ],
+            "target_pos": [
+                0.2822336256504059,
+                -0.19378447532653809,
+                0.1168605387210846
+            ],
+            "target_quat_wxyz": [
+                0.9936087727546692,
+                -0.05877400562167168,
+                -0.055075664073228836,
+                -0.07908174395561218
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000020_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 21,
+    "colors": {
+        "color_0": "colors/000021_color_0.jpg",
+        "color_2": "colors/000021_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.05952564626932144,
+                -0.0421365350484848,
+                -0.022650185972452164,
+                0.1419411599636078,
+                0.12225107848644257,
+                -0.47743621468544006,
+                0.19925644993782043
+            ],
+            "ee_pos": [
+                0.22929206490516663,
+                0.14392785727977753,
+                0.09436466544866562
+            ],
+            "ee_quat_wxyz": [
+                0.9864071607589722,
+                0.022141030058264732,
+                -0.14223413169384003,
+                0.07924710214138031
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.21401429176330566,
+                -0.1215679794549942,
+                -0.13421133160591125,
+                0.17742645740509033,
+                -0.026329342275857925,
+                -0.08686933666467667,
+                -0.06690457463264465
+            ],
+            "ee_pos": [
+                0.28887036442756653,
+                -0.1959526687860489,
+                0.12432106584310532
+            ],
+            "ee_quat_wxyz": [
+                0.992860734462738,
+                -0.06227756291627884,
+                -0.0645131766796112,
+                -0.07865823060274124
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528215169906616,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1297980546951294,
+                -0.07310270518064499,
+                0.1959100365638733,
+                0.5039467811584473,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06196429952979088,
+                -0.0036311112344264984,
+                -0.06954008340835571,
+                0.05952564626932144,
+                -0.0421365350484848,
+                -0.022650185972452164,
+                0.1419411599636078,
+                0.12225107848644257,
+                -0.47743621468544006,
+                0.19925644993782043,
+                -0.21401429176330566,
+                -0.1215679794549942,
+                -0.13421133160591125,
+                0.17742645740509033,
+                -0.026329342275857925,
+                -0.08686933666467667,
+                -0.06690457463264465,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.05166783105165093,
+                -0.03071210976549324,
+                0.0012990710301094186,
+                0.16294504716308594,
+                0.11738109547994134,
+                -0.4748695182103695,
+                0.20224779342348592
+            ],
+            "target_pos": [
+                0.23220236599445343,
+                0.15321937203407288,
+                0.0886501893401146
+            ],
+            "target_quat_wxyz": [
+                0.9842536449432373,
+                0.02809281088411808,
+                -0.1436825543642044,
+                0.09904977679252625
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.18062387892278525,
+                -0.10959148805979821,
+                -0.12898679119456016,
+                0.15925677552434325,
+                -0.025518571577734617,
+                -0.0818332833205882,
+                -0.06941819438486987
+            ],
+            "target_pos": [
+                0.2816661596298218,
+                -0.19426068663597107,
+                0.1169418916106224
+            ],
+            "target_quat_wxyz": [
+                0.9935276508331299,
+                -0.057825781404972076,
+                -0.05164378508925438,
+                -0.08301746845245361
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000021_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 22,
+    "colors": {
+        "color_0": "colors/000022_color_0.jpg",
+        "color_2": "colors/000022_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.05258677899837494,
+                -0.040710411965847015,
+                -0.014920360408723354,
+                0.1447334885597229,
+                0.11998606473207474,
+                -0.47738251090049744,
+                0.19928713142871857
+            ],
+            "ee_pos": [
+                0.23061275482177734,
+                0.1456824690103531,
+                0.09517765790224075
+            ],
+            "ee_quat_wxyz": [
+                0.9859182834625244,
+                0.022243278101086617,
+                -0.14385825395584106,
+                0.08231179416179657
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.20288094878196716,
+                -0.11902732402086258,
+                -0.13250957429409027,
+                0.17468206584453583,
+                -0.02630537375807762,
+                -0.0867159366607666,
+                -0.06731107831001282
+            ],
+            "ee_pos": [
+                0.28680619597435,
+                -0.19582511484622955,
+                0.12164873629808426
+            ],
+            "ee_quat_wxyz": [
+                0.9931418299674988,
+                -0.061672527343034744,
+                -0.06022358685731888,
+                -0.07898688316345215
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052647352218628,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1299320459365845,
+                -0.07308565825223923,
+                0.1959100365638733,
+                0.5040149688720703,
+                0.5073264837265015,
+                0.011348561383783817,
+                -0.061589326709508896,
+                -0.0036387217696756124,
+                -0.06954510509967804,
+                0.05187971144914627,
+                -0.04049469530582428,
+                -0.013482253067195415,
+                0.14512896537780762,
+                0.11986622214317322,
+                -0.4773748517036438,
+                0.19940216839313507,
+                -0.2013469636440277,
+                -0.11847604811191559,
+                -0.13224592804908752,
+                0.17437048256397247,
+                -0.02629338949918747,
+                -0.0867159366607666,
+                -0.06737244129180908,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.04877428111547371,
+                -0.031611399321381614,
+                0.007806544700566454,
+                0.163121274444542,
+                0.11353008586024876,
+                -0.4733291022445475,
+                0.20340800006130055
+            ],
+            "target_pos": [
+                0.23169346153736115,
+                0.1531193107366562,
+                0.08965861797332764
+            ],
+            "target_quat_wxyz": [
+                0.9840663075447083,
+                0.023909373208880424,
+                -0.1452842652797699,
+                0.09967102855443954
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.17375157779046463,
+                -0.10667633804221552,
+                -0.12784511317652453,
+                0.1496564805974137,
+                -0.02456868956889334,
+                -0.07524358974491166,
+                -0.0711662562414217
+            ],
+            "target_pos": [
+                0.2802650034427643,
+                -0.1942126750946045,
+                0.11791634559631348
+            ],
+            "target_quat_wxyz": [
+                0.9937866926193237,
+                -0.05387481674551964,
+                -0.05036286637187004,
+                -0.0833614245057106
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000022_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 23,
+    "colors": {
+        "color_0": "colors/000023_color_0.jpg",
+        "color_2": "colors/000023_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.04848817363381386,
+                -0.03864912688732147,
+                -0.005572664551436901,
+                0.14607572555541992,
+                0.11796072870492935,
+                -0.4773518443107605,
+                0.20004644989967346
+            ],
+            "ee_pos": [
+                0.23134087026119232,
+                0.1481608897447586,
+                0.0956912636756897
+            ],
+            "ee_quat_wxyz": [
+                0.9853675365447998,
+                0.022958682850003242,
+                -0.1448584794998169,
+                0.08683177828788757
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.19084878265857697,
+                -0.11498863995075226,
+                -0.13038836419582367,
+                0.16996027529239655,
+                -0.026281405240297318,
+                -0.08429992198944092,
+                -0.06806273013353348
+            ],
+            "ee_pos": [
+                0.2845732569694519,
+                -0.1953352838754654,
+                0.1188909187912941
+            ],
+            "ee_quat_wxyz": [
+                0.9934818744659424,
+                -0.06038149446249008,
+                -0.0552726574242115,
+                -0.07932676374912262
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0524598360061646,
+                -0.12745164334774017,
+                -0.0025712440256029367,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1299185752868652,
+                -0.07309418171644211,
+                0.1959100365638733,
+                0.5040916204452515,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.061575938016176224,
+                -0.0034712471533566713,
+                -0.06946465373039246,
+                0.04820055514574051,
+                -0.03837348893284798,
+                -0.004542021546512842,
+                0.14609968662261963,
+                0.11778096854686737,
+                -0.4773518443107605,
+                0.20016148686408997,
+                -0.18957845866680145,
+                -0.11448530107736588,
+                -0.13011273741722107,
+                0.16924123466014862,
+                -0.026257436722517014,
+                -0.08402380347251892,
+                -0.06816244125366211,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.049711096253033826,
+                -0.03479410161709,
+                0.009538141856805307,
+                0.16060920088858083,
+                0.11027913480213691,
+                -0.47410235455327876,
+                0.20168924873597605
+            ],
+            "target_pos": [
+                0.23070085048675537,
+                0.15223155915737152,
+                0.08985322713851929
+            ],
+            "target_quat_wxyz": [
+                0.9842143654823303,
+                0.02080104500055313,
+                -0.1464138627052307,
+                0.09722328186035156
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16794919459833463,
+                -0.10559202476519204,
+                -0.12761433985970388,
+                0.13919194640391214,
+                -0.022333059756518725,
+                -0.07000932971309615,
+                -0.07023085922169135
+            ],
+            "target_pos": [
+                0.27892380952835083,
+                -0.19397911429405212,
+                0.11867016553878784
+            ],
+            "target_quat_wxyz": [
+                0.9939817190170288,
+                -0.05372649058699608,
+                -0.05146072804927826,
+                -0.08040925860404968
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000023_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 24,
+    "colors": {
+        "color_0": "colors/000024_color_0.jpg",
+        "color_2": "colors/000024_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.04718189314007759,
+                -0.037522610276937485,
+                0.00013182648399379104,
+                0.14609968662261963,
+                0.1161271408200264,
+                -0.47733649611473083,
+                0.2001691609621048
+            ],
+            "ee_pos": [
+                0.23154409229755402,
+                0.1497422307729721,
+                0.0959194079041481
+            ],
+            "ee_quat_wxyz": [
+                0.98504638671875,
+                0.023109830915927887,
+                -0.14526517689228058,
+                0.0897083505988121
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.18109363317489624,
+                -0.11124956607818604,
+                -0.12939368188381195,
+                0.1624341905117035,
+                -0.025478463619947433,
+                -0.08029622584581375,
+                -0.06831584125757217
+            ],
+            "ee_pos": [
+                0.28273993730545044,
+                -0.19494536519050598,
+                0.11732570081949234
+            ],
+            "ee_quat_wxyz": [
+                0.9937207698822021,
+                -0.058676086366176605,
+                -0.05206938087940216,
+                -0.07978017628192902
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525000095367432,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1298784017562866,
+                -0.07308565825223923,
+                0.1959100365638733,
+                0.5040064454078674,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.061602719128131866,
+                -0.003029721090570092,
+                -0.06921372562646866,
+                0.04716990888118744,
+                -0.03742673620581627,
+                0.0011984225129708648,
+                0.14607572555541992,
+                0.11571967601776123,
+                -0.4773441553115845,
+                0.20017683506011963,
+                -0.17959560453891754,
+                -0.11057844758033752,
+                -0.12927383184432983,
+                0.16081631183624268,
+                -0.02521480992436409,
+                -0.07997409254312515,
+                -0.06832350790500641,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.05184982514560022,
+                -0.03837806631562907,
+                0.008422020921071745,
+                0.15950165568124616,
+                0.10894478063229648,
+                -0.47622198702782365,
+                0.19921709983694807
+            ],
+            "target_pos": [
+                0.23016512393951416,
+                0.15052607655525208,
+                0.08901504427194595
+            ],
+            "target_quat_wxyz": [
+                0.9845846891403198,
+                0.01957615092396736,
+                -0.14566819369792938,
+                0.09481816738843918
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.163104775099347,
+                -0.10614921851125347,
+                -0.12655857370124388,
+                0.1304175236687987,
+                -0.023544973188835028,
+                -0.06664778567959213,
+                -0.06962635013843117
+            ],
+            "target_pos": [
+                0.27846580743789673,
+                -0.19419008493423462,
+                0.11893872171640396
+            ],
+            "target_quat_wxyz": [
+                0.9936214685440063,
+                -0.05928127095103264,
+                -0.052144855260849,
+                -0.08051754534244537
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000024_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 25,
+    "colors": {
+        "color_0": "colors/000025_color_0.jpg",
+        "color_2": "colors/000025_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.047205861657857895,
+                -0.037822213023900986,
+                0.005992112681269646,
+                0.14614762365818024,
+                0.11331085115671158,
+                -0.47731348872184753,
+                0.20011547207832336
+            ],
+            "ee_pos": [
+                0.23147134482860565,
+                0.15122035145759583,
+                0.09583035856485367
+            ],
+            "ee_quat_wxyz": [
+                0.9848084449768066,
+                0.022211771458387375,
+                -0.14492444694042206,
+                0.09303691983222961
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.17351959645748138,
+                -0.10876882821321487,
+                -0.1287345439195633,
+                0.15422499179840088,
+                -0.024531709030270576,
+                -0.07803360372781754,
+                -0.06837719678878784
+            ],
+            "ee_pos": [
+                0.28129664063453674,
+                -0.1946994513273239,
+                0.11678537726402283
+            ],
+            "ee_quat_wxyz": [
+                0.9938138723373413,
+                -0.057409632951021194,
+                -0.05121266096830368,
+                -0.08009607344865799
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525670051574707,
+                -0.12745164334774017,
+                -0.0025712440256029367,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1297311782836914,
+                -0.07311122864484787,
+                0.19592343270778656,
+                0.5040149688720703,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.061428625136613846,
+                -0.0029764315113425255,
+                -0.06918862462043762,
+                0.04721784591674805,
+                -0.037870150059461594,
+                0.006771087180823088,
+                0.14614762365818024,
+                0.11309513449668884,
+                -0.47732114791870117,
+                0.2001231461763382,
+                -0.172464981675148,
+                -0.1085890680551529,
+                -0.12869858741760254,
+                0.15275093913078308,
+                -0.024531709030270576,
+                -0.07764244079589844,
+                -0.06838486343622208,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.05322104685679559,
+                -0.043066485717685246,
+                0.00601521615661077,
+                0.16135836878507734,
+                0.10779489785284849,
+                -0.47755934727108906,
+                0.19637741408623224
+            ],
+            "target_pos": [
+                0.23036523163318634,
+                0.14838838577270508,
+                0.08768986165523529
+            ],
+            "target_quat_wxyz": [
+                0.9852769374847412,
+                0.015965892001986504,
+                -0.14270423352718353,
+                0.0927896499633789
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16013917049929646,
+                -0.10826266047799474,
+                -0.12562198060693874,
+                0.12451809307836123,
+                -0.027031442440059693,
+                -0.06470695929655801,
+                -0.06988039833886696
+            ],
+            "target_pos": [
+                0.2786182761192322,
+                -0.19501620531082153,
+                0.11941598355770111
+            ],
+            "target_quat_wxyz": [
+                0.9931502938270569,
+                -0.06424400955438614,
+                -0.05305738002061844,
+                -0.08191563189029694
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000025_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 26,
+    "colors": {
+        "color_0": "colors/000026_color_0.jpg",
+        "color_2": "colors/000026_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.0472537986934185,
+                -0.03927230462431908,
+                0.009443569928407669,
+                0.14617159962654114,
+                0.11240004748106003,
+                -0.4773288369178772,
+                0.20006178319454193
+            ],
+            "ee_pos": [
+                0.23142053186893463,
+                0.15182612836360931,
+                0.0957677960395813
+            ],
+            "ee_quat_wxyz": [
+                0.9846724271774292,
+                0.021413343027234077,
+                -0.14470361173152924,
+                0.09498704224824905
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16698819398880005,
+                -0.10848120599985123,
+                -0.12851883471012115,
+                0.14449380338191986,
+                -0.025059014558792114,
+                -0.074681855738163,
+                -0.06844622641801834
+            ],
+            "ee_pos": [
+                0.2800459563732147,
+                -0.19492430984973907,
+                0.11694782227277756
+            ],
+            "ee_quat_wxyz": [
+                0.9937429428100586,
+                -0.05788394808769226,
+                -0.05120372399687767,
+                -0.08063890784978867
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527143478393555,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1294231414794922,
+                -0.07311975210905075,
+                0.1959502100944519,
+                0.5040064454078674,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06061172112822533,
+                -0.003006880870088935,
+                -0.0691886693239212,
+                0.0472537986934185,
+                -0.03927230462431908,
+                0.009443569928407669,
+                0.14617159962654114,
+                0.11240004748106003,
+                -0.4773288369178772,
+                0.20006178319454193,
+                -0.16698819398880005,
+                -0.10848120599985123,
+                -0.12851883471012115,
+                0.14449380338191986,
+                -0.025059014558792114,
+                -0.074681855738163,
+                -0.06844622641801834,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.0546903897309247,
+                -0.048554672389746666,
+                0.0029318821436732827,
+                0.1648535944858929,
+                0.10720039835079168,
+                -0.47791693203419433,
+                0.19409853592841309
+            ],
+            "target_pos": [
+                0.22996146976947784,
+                0.14637839794158936,
+                0.08621846139431
+            ],
+            "target_quat_wxyz": [
+                0.9859649538993835,
+                0.012667571194469929,
+                -0.1392982453107834,
+                0.0911516323685646
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.15811193200250223,
+                -0.110254713181898,
+                -0.12533131468363495,
+                0.11987344417605575,
+                -0.03022010190834651,
+                -0.06298935187752841,
+                -0.07059816369523156
+            ],
+            "target_pos": [
+                0.27835625410079956,
+                -0.19548556208610535,
+                0.119871124625206
+            ],
+            "target_quat_wxyz": [
+                0.9929836988449097,
+                -0.06500785052776337,
+                -0.053768057376146317,
+                -0.08286373317241669
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000026_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 27,
+    "colors": {
+        "color_0": "colors/000027_color_0.jpg",
+        "color_2": "colors/000027_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.04731371998786926,
+                -0.042879559099674225,
+                0.009886985644698143,
+                0.14709438383579254,
+                0.11237607896327972,
+                -0.4773288369178772,
+                0.1996399462223053
+            ],
+            "ee_pos": [
+                0.231406107544899,
+                0.15124982595443726,
+                0.0955137088894844
+            ],
+            "ee_quat_wxyz": [
+                0.9847704172134399,
+                0.019744763150811195,
+                -0.14405231177806854,
+                0.0953223779797554
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16352474689483643,
+                -0.10856509953737259,
+                -0.12826716899871826,
+                0.1356973797082901,
+                -0.026101643219590187,
+                -0.07262632250785828,
+                -0.0686916634440422
+            ],
+            "ee_pos": [
+                0.27937638759613037,
+                -0.19498981535434723,
+                0.11787275969982147
+            ],
+            "ee_quat_wxyz": [
+                0.9935874342918396,
+                -0.05865821987390518,
+                -0.05288577079772949,
+                -0.08090906590223312
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052754521369934,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1289544105529785,
+                -0.07310270518064499,
+                0.19596360623836517,
+                0.5039382576942444,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.060397449880838394,
+                -0.003075394779443741,
+                -0.06920377910137177,
+                0.04731371998786926,
+                -0.042879559099674225,
+                0.009886985644698143,
+                0.14709438383579254,
+                0.11237607896327972,
+                -0.4773288369178772,
+                0.1996399462223053,
+                -0.16352474689483643,
+                -0.10856509953737259,
+                -0.12826716899871826,
+                0.1356973797082901,
+                -0.026101643219590187,
+                -0.07262632250785828,
+                -0.0686916634440422,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.05568088441388258,
+                -0.05420139506768004,
+                -0.001216653041022496,
+                0.166987740067742,
+                0.10770965096269981,
+                -0.476790337734758,
+                0.1917988347558731
+            ],
+            "target_pos": [
+                0.22993169724941254,
+                0.14384521543979645,
+                0.08627814054489136
+            ],
+            "target_quat_wxyz": [
+                0.9865298867225647,
+                0.010802512988448143,
+                -0.13790741562843323,
+                0.087313212454319
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.15852172579061,
+                -0.1121310045892612,
+                -0.12632079654993056,
+                0.1158620259231102,
+                -0.032079952911149616,
+                -0.05962093358399339,
+                -0.07169067997160407
+            ],
+            "target_pos": [
+                0.27902162075042725,
+                -0.1962205171585083,
+                0.1213265061378479
+            ],
+            "target_quat_wxyz": [
+                0.9928079843521118,
+                -0.06519295275211334,
+                -0.054444320499897,
+                -0.08436809480190277
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000027_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 28,
+    "colors": {
+        "color_0": "colors/000028_color_0.jpg",
+        "color_2": "colors/000028_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.047325704246759415,
+                -0.04616323485970497,
+                0.00860467366874218,
+                0.14921559393405914,
+                0.11240004748106003,
+                -0.4773288369178772,
+                0.19847410917282104
+            ],
+            "ee_pos": [
+                0.23141901195049286,
+                0.15026211738586426,
+                0.0950235053896904
+            ],
+            "ee_quat_wxyz": [
+                0.9850613474845886,
+                0.018179677426815033,
+                -0.14289315044879913,
+                0.09436752647161484
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16329705715179443,
+                -0.1086130365729332,
+                -0.12767992913722992,
+                0.13013669848442078,
+                -0.027276096865534782,
+                -0.07036370038986206,
+                -0.06891409307718277
+            ],
+            "ee_pos": [
+                0.2793492078781128,
+                -0.19478464126586914,
+                0.11888603121042252
+            ],
+            "ee_quat_wxyz": [
+                0.9934811592102051,
+                -0.0593278706073761,
+                -0.054412033408880234,
+                -0.0807141587138176
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.05287504196167,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2622595727443695,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1285526752471924,
+                -0.07310270518064499,
+                0.19596360623836517,
+                0.5039297342300415,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06034388020634651,
+                -0.003174359677359462,
+                -0.06926898658275604,
+                0.047325704246759415,
+                -0.04616323485970497,
+                0.00860467366874218,
+                0.14921559393405914,
+                0.11240004748106003,
+                -0.4773288369178772,
+                0.19847410917282104,
+                -0.16329705715179443,
+                -0.1086130365729332,
+                -0.12767992913722992,
+                0.13013669848442078,
+                -0.027276096865534782,
+                -0.07036370038986206,
+                -0.06891409307718277,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.05825262468553995,
+                -0.05871117202240607,
+                -0.006041975055433996,
+                0.16552199317323413,
+                0.10797905166315562,
+                -0.4766511211409402,
+                0.18814398765026585
+            ],
+            "target_pos": [
+                0.22884316742420197,
+                0.14216943085193634,
+                0.08702413737773895
+            ],
+            "target_quat_wxyz": [
+                0.9867574572563171,
+                0.00915420800447464,
+                -0.13926197588443756,
+                0.08265628665685654
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1592680594964339,
+                -0.11302228946976825,
+                -0.12706702042415136,
+                0.11052069683368931,
+                -0.03320097366230425,
+                -0.055536064040466404,
+                -0.07273748505361677
+            ],
+            "target_pos": [
+                0.27904123067855835,
+                -0.1959623247385025,
+                0.12278465926647186
+            ],
+            "target_quat_wxyz": [
+                0.9926645159721375,
+                -0.06573133915662766,
+                -0.055693428963422775,
+                -0.08482241630554199
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000028_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 29,
+    "colors": {
+        "color_0": "colors/000029_color_0.jpg",
+        "color_2": "colors/000029_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.047577373683452606,
+                -0.05007009208202362,
+                0.00601608119904995,
+                0.15094131231307983,
+                0.11241203546524048,
+                -0.47732114791870117,
+                0.19593538343906403
+            ],
+            "ee_pos": [
+                0.23141559958457947,
+                0.1487956941127777,
+                0.09458373486995697
+            ],
+            "ee_quat_wxyz": [
+                0.985455334186554,
+                0.016279038041830063,
+                -0.1418178379535675,
+                0.09219778329133987
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.163105309009552,
+                -0.10864898562431335,
+                -0.12769192457199097,
+                0.12374910712242126,
+                -0.02871420420706272,
+                -0.06698894500732422,
+                -0.06938962638378143
+            ],
+            "ee_pos": [
+                0.2793108820915222,
+                -0.19472680985927582,
+                0.12001025676727295
+            ],
+            "ee_quat_wxyz": [
+                0.9933374524116516,
+                -0.06007763370871544,
+                -0.05582914128899574,
+                -0.08095991611480713
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053102731704712,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1283249855041504,
+                -0.07311975210905075,
+                0.19596360623836517,
+                0.5039297342300415,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06034388020634651,
+                -0.0033342165406793356,
+                -0.06927422434091568,
+                0.04760134220123291,
+                -0.05048954114317894,
+                0.005656554363667965,
+                0.15106116235256195,
+                0.11241203546524048,
+                -0.47733649611473083,
+                0.1956515908241272,
+                -0.163105309009552,
+                -0.1086370050907135,
+                -0.12767992913722992,
+                0.12286227941513062,
+                -0.028810078278183937,
+                -0.06668214499950409,
+                -0.06943564116954803,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.06269999072852248,
+                -0.06184676467368981,
+                -0.010891206504578577,
+                0.16136933412308088,
+                0.10876147040573861,
+                -0.47782795943533063,
+                0.18392848804759215
+            ],
+            "target_pos": [
+                0.22741517424583435,
+                0.14101102948188782,
+                0.08746406435966492
+            ],
+            "target_quat_wxyz": [
+                0.9868892431259155,
+                0.00884956493973732,
+                -0.140416219830513,
+                0.07908579707145691
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1590672586809359,
+                -0.1131360136988648,
+                -0.126745055526332,
+                0.10348240243769077,
+                -0.03422156044089562,
+                -0.05096462063506563,
+                -0.07282689645741698
+            ],
+            "target_pos": [
+                0.27862706780433655,
+                -0.1952943652868271,
+                0.12389037013053894
+            ],
+            "target_quat_wxyz": [
+                0.9926966428756714,
+                -0.06651996076107025,
+                -0.05636115372180939,
+                -0.08337783068418503
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000029_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 30,
+    "colors": {
+        "color_0": "colors/000030_color_0.jpg",
+        "color_2": "colors/000030_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.04851214215159416,
+                -0.05398893356323242,
+                0.0014141385909169912,
+                0.15128885209560394,
+                0.11244798451662064,
+                -0.47733649611473083,
+                0.1919623613357544
+            ],
+            "ee_pos": [
+                0.2313186079263687,
+                0.14682860672473907,
+                0.0943375900387764
+            ],
+            "ee_quat_wxyz": [
+                0.9859212040901184,
+                0.014288820326328278,
+                -0.1411716639995575,
+                0.0884631797671318
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16314126551151276,
+                -0.10868494212627411,
+                -0.1276080310344696,
+                0.11713381856679916,
+                -0.029708893969655037,
+                -0.06455758213996887,
+                -0.06962738931179047
+            ],
+            "ee_pos": [
+                0.27930328249931335,
+                -0.19460265338420868,
+                0.12133338302373886
+            ],
+            "ee_quat_wxyz": [
+                0.9931818246841431,
+                -0.060613468289375305,
+                -0.05793562904000282,
+                -0.08098998665809631
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0532499551773071,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1283518075942993,
+                -0.07311975210905075,
+                0.19593682885169983,
+                0.50389564037323,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06029031425714493,
+                -0.0035245234612375498,
+                -0.0693095400929451,
+                0.04851214215159416,
+                -0.05398893356323242,
+                0.0014141385909169912,
+                0.15128885209560394,
+                0.11244798451662064,
+                -0.47733649611473083,
+                0.1919623613357544,
+                -0.16314126551151276,
+                -0.10868494212627411,
+                -0.1276080310344696,
+                0.11713381856679916,
+                -0.029708893969655037,
+                -0.06455758213996887,
+                -0.06962738931179047,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.06778654027850071,
+                -0.06381173331003345,
+                -0.014527548066854967,
+                0.15668443255792835,
+                0.10994189851592615,
+                -0.47932806334391587,
+                0.18050172908868767
+            ],
+            "target_pos": [
+                0.2263033390045166,
+                0.1406436711549759,
+                0.08739582449197769
+            ],
+            "target_quat_wxyz": [
+                0.9869710206985474,
+                0.00929364375770092,
+                -0.14032676815986633,
+                0.07816777378320694
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1575470997496129,
+                -0.1129628857271725,
+                -0.12480520380341618,
+                0.09602085884444866,
+                -0.036120206209155944,
+                -0.04722513016728179,
+                -0.07199758576718115
+            ],
+            "target_pos": [
+                0.27800488471984863,
+                -0.19426684081554413,
+                0.12442318350076675
+            ],
+            "target_quat_wxyz": [
+                0.9927496910095215,
+                -0.06841450184583664,
+                -0.057018037885427475,
+                -0.08072482794523239
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000030_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 31,
+    "colors": {
+        "color_0": "colors/000031_color_0.jpg",
+        "color_2": "colors/000031_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.05035771429538727,
+                -0.05764412507414818,
+                -0.004254399798810482,
+                0.1510731428861618,
+                0.1125558465719223,
+                -0.4773671627044678,
+                0.1885262429714203
+            ],
+            "ee_pos": [
+                0.23104111850261688,
+                0.1447412371635437,
+                0.09404535591602325
+            ],
+            "ee_quat_wxyz": [
+                0.9863924980163574,
+                0.012353307567536831,
+                -0.14044448733329773,
+                0.08457273989915848
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1631532460451126,
+                -0.10873287916183472,
+                -0.1269848495721817,
+                0.11036273092031479,
+                -0.031015174463391304,
+                -0.061052437871694565,
+                -0.0697040930390358
+            ],
+            "ee_pos": [
+                0.27931052446365356,
+                -0.19435055553913116,
+                0.12257401645183563
+            ],
+            "ee_quat_wxyz": [
+                0.9930639266967773,
+                -0.061339542269706726,
+                -0.05955836921930313,
+                -0.08071155846118927
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0532901287078857,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.12833833694458,
+                -0.07311122864484787,
+                0.19593682885169983,
+                0.5039126873016357,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.059580542147159576,
+                -0.0036387161817401648,
+                -0.0693848505616188,
+                0.050705257803201675,
+                -0.058159444481134415,
+                -0.00523710623383522,
+                0.1510731428861618,
+                0.1125558465719223,
+                -0.4773748517036438,
+                0.18814274668693542,
+                -0.16317720711231232,
+                -0.10873287916183472,
+                -0.12656539678573608,
+                0.1089605763554573,
+                -0.0313027948141098,
+                -0.06047719717025757,
+                -0.06968875229358673,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.07236051926109745,
+                -0.06475428874902497,
+                -0.015302900030806199,
+                0.15238813395547957,
+                0.10946239619801298,
+                -0.4796100311915339,
+                0.1784595247288811
+            ],
+            "target_pos": [
+                0.22571729123592377,
+                0.1417544037103653,
+                0.08731339871883392
+            ],
+            "target_quat_wxyz": [
+                0.9869888424873352,
+                0.008275827392935753,
+                -0.13886356353759766,
+                0.08063187450170517
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.15491743356114973,
+                -0.11233274208741154,
+                -0.1208183157500406,
+                0.08774899724686264,
+                -0.03959328574161926,
+                -0.04368698567068449,
+                -0.07085541817387034
+            ],
+            "target_pos": [
+                0.27742788195610046,
+                -0.192515566945076,
+                0.12516234815120697
+            ],
+            "target_quat_wxyz": [
+                0.9927688241004944,
+                -0.07130297273397446,
+                -0.05758260190486908,
+                -0.07752534002065659
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000031_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 32,
+    "colors": {
+        "color_0": "colors/000032_color_0.jpg",
+        "color_2": "colors/000032_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.05337774008512497,
+                -0.05879461020231247,
+                -0.009012137539684772,
+                0.15054583549499512,
+                0.11266370117664337,
+                -0.47739019989967346,
+                0.18496741354465485
+            ],
+            "ee_pos": [
+                0.23050886392593384,
+                0.14340509474277496,
+                0.0935613140463829
+            ],
+            "ee_quat_wxyz": [
+                0.9868507385253906,
+                0.011791693978011608,
+                -0.1393778771162033,
+                0.08099634200334549
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16281768679618835,
+                -0.10862501710653305,
+                -0.12414459139108658,
+                0.10046376287937164,
+                -0.034382741898298264,
+                -0.05668826401233673,
+                -0.06962738931179047
+            ],
+            "ee_pos": [
+                0.2792910933494568,
+                -0.19347144663333893,
+                0.12431454658508301
+            ],
+            "ee_quat_wxyz": [
+                0.9929107427597046,
+                -0.06316662579774857,
+                -0.062083784490823746,
+                -0.07927072048187256
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053303599357605,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1286062002182007,
+                -0.07311122864484787,
+                0.19596360623836517,
+                0.5039041638374329,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05968767777085304,
+                -0.003638714784756303,
+                -0.06936481595039368,
+                0.0535694882273674,
+                -0.05878262594342232,
+                -0.009072058834135532,
+                0.15054583549499512,
+                0.11260378360748291,
+                -0.47739019989967346,
+                0.18462227284908295,
+                -0.1628536432981491,
+                -0.10864898562431335,
+                -0.12397681176662445,
+                0.099624864757061,
+                -0.03474226966500282,
+                -0.056626904755830765,
+                -0.06962738931179047,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.07587512750711564,
+                -0.06550998988751949,
+                -0.014179412981380372,
+                0.15079597911549195,
+                0.10808695859889587,
+                -0.4791691644714743,
+                0.17833893154231217
+            ],
+            "target_pos": [
+                0.2252512276172638,
+                0.14253830909729004,
+                0.08620694279670715
+            ],
+            "target_quat_wxyz": [
+                0.9870844483375549,
+                0.0071221403777599335,
+                -0.13635633885860443,
+                0.0837881788611412
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.15180960057451648,
+                -0.11152452690590015,
+                -0.11705098652647583,
+                0.08030316552376283,
+                -0.0426562436894517,
+                -0.04046670908775698,
+                -0.06960422397419441
+            ],
+            "target_pos": [
+                0.2768732011318207,
+                -0.19180996716022491,
+                0.12526050209999084
+            ],
+            "target_quat_wxyz": [
+                0.9928388595581055,
+                -0.07196207344532013,
+                -0.05757564306259155,
+                -0.07601027190685272
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000032_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 33,
+    "colors": {
+        "color_0": "colors/000033_color_0.jpg",
+        "color_2": "colors/000033_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.05583450570702553,
+                -0.058770641684532166,
+                -0.01025849673897028,
+                0.1504020243883133,
+                0.11262775212526321,
+                -0.47739019989967346,
+                0.18143925070762634
+            ],
+            "ee_pos": [
+                0.23005090653896332,
+                0.1430952101945877,
+                0.09306653589010239
+            ],
+            "ee_quat_wxyz": [
+                0.9871631860733032,
+                0.01204770989716053,
+                -0.13829867541790009,
+                0.07897569984197617
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16260196268558502,
+                -0.10867295414209366,
+                -0.12262259423732758,
+                0.09364473819732666,
+                -0.03814578801393509,
+                -0.05467107892036438,
+                -0.06958137452602386
+            ],
+            "ee_pos": [
+                0.27924731373786926,
+                -0.19297544658184052,
+                0.12563201785087585
+            ],
+            "ee_quat_wxyz": [
+                0.9927000403404236,
+                -0.06518112123012543,
+                -0.06433028727769852,
+                -0.07848355919122696
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0531562566757202,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1288740634918213,
+                -0.07311122864484787,
+                0.1959903985261917,
+                0.5039126873016357,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.059901949018239975,
+                -0.003638714784756303,
+                -0.06936481595039368,
+                0.05625395476818085,
+                -0.058770641684532166,
+                -0.010390323586761951,
+                0.15035408735275269,
+                0.11262775212526321,
+                -0.47738251090049744,
+                0.1810864359140396,
+                -0.16251808404922485,
+                -0.10867295414209366,
+                -0.1224188581109047,
+                0.09244631230831146,
+                -0.03864912688732147,
+                -0.05422622337937355,
+                -0.06958137452602386,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.07848288603070899,
+                -0.06615681504836132,
+                -0.012001713545287467,
+                0.15191966635763726,
+                0.10768185284918341,
+                -0.47936587882471254,
+                0.17976648402811113
+            ],
+            "target_pos": [
+                0.22475014626979828,
+                0.14308613538742065,
+                0.08489421755075455
+            ],
+            "target_quat_wxyz": [
+                0.9870399832725525,
+                0.008096485398709774,
+                -0.13485446572303772,
+                0.08660681545734406
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1485479630296319,
+                -0.11041100358358152,
+                -0.11432213599593409,
+                0.07397385366034127,
+                -0.04500246541829453,
+                -0.03775854082610032,
+                -0.06853682645418098
+            ],
+            "target_pos": [
+                0.2762291431427002,
+                -0.19140386581420898,
+                0.12522415816783905
+            ],
+            "target_quat_wxyz": [
+                0.9929142594337463,
+                -0.07190337032079697,
+                -0.057252027094364166,
+                -0.0753219947218895
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000033_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 34,
+    "colors": {
+        "color_0": "colors/000034_color_0.jpg",
+        "color_2": "colors/000034_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.05849500373005867,
+                -0.05879461020231247,
+                -0.01047421246767044,
+                0.15033012628555298,
+                0.11256782710552216,
+                -0.4773748517036438,
+                0.18080265820026398
+            ],
+            "ee_pos": [
+                0.22951850295066833,
+                0.14317983388900757,
+                0.09249617904424667
+            ],
+            "ee_quat_wxyz": [
+                0.9873389601707458,
+                0.012180854566395283,
+                -0.13705973327159882,
+                0.07891783863306046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.16164323687553406,
+                -0.10867295414209366,
+                -0.12113654613494873,
+                0.08741293847560883,
+                -0.04018310829997063,
+                -0.051495738327503204,
+                -0.06952768564224243
+            ],
+            "ee_pos": [
+                0.2790771424770355,
+                -0.1925736367702484,
+                0.1264970451593399
+            ],
+            "ee_quat_wxyz": [
+                0.9926071763038635,
+                -0.06633223593235016,
+                -0.0653567686676979,
+                -0.07784280180931091
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0529420375823975,
+                -0.1274346113204956,
+                -0.0025578520726412535,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1289945840835571,
+                -0.07309418171644211,
+                0.1959100365638733,
+                0.5039893984794617,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06000908464193344,
+                -0.003638714784756303,
+                -0.06936481595039368,
+                0.0586627833545208,
+                -0.05880659446120262,
+                -0.010414292104542255,
+                0.15033012628555298,
+                0.11256782710552216,
+                -0.47738251090049744,
+                0.18081799149513245,
+                -0.1614874303340912,
+                -0.10867295414209366,
+                -0.1209927350282669,
+                0.0869934931397438,
+                -0.04020707681775093,
+                -0.05115826055407524,
+                -0.06952768564224243,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.08163995946907263,
+                -0.0662810340902645,
+                -0.009814652794804837,
+                0.1533894095676706,
+                0.10770329448094035,
+                -0.48009122514452873,
+                0.18140850278116943
+            ],
+            "target_pos": [
+                0.2237156480550766,
+                0.14388249814510345,
+                0.0838622897863388
+            ],
+            "target_quat_wxyz": [
+                0.9870828986167908,
+                0.00907828938215971,
+                -0.13326261937618256,
+                0.08846448361873627
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14445254636285898,
+                -0.10868597219942085,
+                -0.11249348090651348,
+                0.06766069054618107,
+                -0.04674970076803109,
+                -0.034832185639601325,
+                -0.06861778030871679
+            ],
+            "target_pos": [
+                0.2751266062259674,
+                -0.19098612666130066,
+                0.12494705617427826
+            ],
+            "target_quat_wxyz": [
+                0.9929346442222595,
+                -0.07154462486505508,
+                -0.056154198944568634,
+                -0.07621615380048752
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000034_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 35,
+    "colors": {
+        "color_0": "colors/000035_color_0.jpg",
+        "color_2": "colors/000035_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.06102367490530014,
+                -0.05886651575565338,
+                -0.00971920695155859,
+                0.15033012628555298,
+                0.1125558465719223,
+                -0.47739019989967346,
+                0.1809944063425064
+            ],
+            "ee_pos": [
+                0.2289954423904419,
+                0.1435181051492691,
+                0.09192992001771927
+            ],
+            "ee_quat_wxyz": [
+                0.9874416589736938,
+                0.012344532646238804,
+                -0.1358364373445511,
+                0.07971873134374619
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.15857526659965515,
+                -0.10867295414209366,
+                -0.11937487125396729,
+                0.08089352399110794,
+                -0.04110589250922203,
+                -0.04770680516958237,
+                -0.0695200115442276
+            ],
+            "ee_pos": [
+                0.27852514386177063,
+                -0.19227610528469086,
+                0.1267971396446228
+            ],
+            "ee_quat_wxyz": [
+                0.9926106929779053,
+                -0.06703253835439682,
+                -0.06520119309425354,
+                -0.0773267149925232
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527411699295044,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.129141926765442,
+                -0.07311122864484787,
+                0.19593682885169983,
+                0.5040320158004761,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06000908464193344,
+                -0.003547368571162224,
+                -0.06941471993923187,
+                0.061479076743125916,
+                -0.05886651575565338,
+                -0.009587380103766918,
+                0.15033012628555298,
+                0.1125558465719223,
+                -0.47739019989967346,
+                0.1810174137353897,
+                -0.1580359786748886,
+                -0.10867295414209366,
+                -0.11911121755838394,
+                0.08006660640239716,
+                -0.041189782321453094,
+                -0.04749971628189087,
+                -0.06948933005332947,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.08498805700767267,
+                -0.06660122652044248,
+                -0.008389358511197622,
+                0.15383773033569004,
+                0.10801570426343471,
+                -0.4808427533398567,
+                0.1827544617764325
+            ],
+            "target_pos": [
+                0.2229703962802887,
+                0.14412300288677216,
+                0.0835711881518364
+            ],
+            "target_quat_wxyz": [
+                0.9870925545692444,
+                0.00889225210994482,
+                -0.13241471350193024,
+                0.08964160084724426
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14055373711842095,
+                -0.10674887474237199,
+                -0.11198803177707509,
+                0.06138966459262481,
+                -0.04658883766749506,
+                -0.0305921063778384,
+                -0.0692074140092193
+            ],
+            "target_pos": [
+                0.2744450271129608,
+                -0.1909925937652588,
+                0.12498163431882858
+            ],
+            "target_quat_wxyz": [
+                0.9931080937385559,
+                -0.0692443698644638,
+                -0.05427229776978493,
+                -0.07743408530950546
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000035_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 36,
+    "colors": {
+        "color_0": "colors/000036_color_0.jpg",
+        "color_2": "colors/000036_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.06460695713758469,
+                -0.05890246853232384,
+                -0.009024121798574924,
+                0.15034210681915283,
+                0.1125558465719223,
+                -0.47739019989967346,
+                0.18132421374320984
+            ],
+            "ee_pos": [
+                0.2282540202140808,
+                0.14392079412937164,
+                0.09113024175167084
+            ],
+            "ee_quat_wxyz": [
+                0.9875969290733337,
+                0.012578936293721199,
+                -0.13410158455371857,
+                0.08068989217281342
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.15572302043437958,
+                -0.10842128843069077,
+                -0.11752929538488388,
+                0.07580022513866425,
+                -0.041609231382608414,
+                -0.04521408677101135,
+                -0.069473996758461
+            ],
+            "ee_pos": [
+                0.2780165374279022,
+                -0.19190441071987152,
+                0.12692783772945404
+            ],
+            "ee_quat_wxyz": [
+                0.9926443696022034,
+                -0.06739028543233871,
+                -0.06507112085819244,
+                -0.07669059932231903
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.262225478887558,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1291552782058716,
+                -0.07310270518064499,
+                0.1959100365638733,
+                0.5040320158004761,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.06004926189780235,
+                -0.00341034890152514,
+                -0.06948456913232803,
+                0.06506235897541046,
+                -0.05890246853232384,
+                -0.008988169021904469,
+                0.15034210681915283,
+                0.112531878054142,
+                -0.47739019989967346,
+                0.18132421374320984,
+                -0.15536350011825562,
+                -0.10836136341094971,
+                -0.11744540929794312,
+                0.07520101219415665,
+                -0.04163319990038872,
+                -0.04483059048652649,
+                -0.06948166340589523,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.08960017792597819,
+                -0.06727489493181646,
+                -0.008110132668769384,
+                0.15127228441586996,
+                0.10798395781808617,
+                -0.4811945560635094,
+                0.18312887882233353
+            ],
+            "target_pos": [
+                0.22167950868606567,
+                0.14410065114498138,
+                0.08381659537553787
+            ],
+            "target_quat_wxyz": [
+                0.9871433973312378,
+                0.007951063103973866,
+                -0.1318810135126114,
+                0.08995627611875534
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.13631921271401967,
+                -0.10484711287130233,
+                -0.11143630141903567,
+                0.054197370676128925,
+                -0.045656937309284704,
+                -0.025743504896710945,
+                -0.06962447944402893
+            ],
+            "target_pos": [
+                0.2734665870666504,
+                -0.1906088888645172,
+                0.12522178888320923
+            ],
+            "target_quat_wxyz": [
+                0.9932894706726074,
+                -0.06783244013786316,
+                -0.053012747317552567,
+                -0.07722967863082886
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000036_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 37,
+    "colors": {
+        "color_0": "colors/000037_color_0.jpg",
+        "color_2": "colors/000037_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.069196917116642,
+                -0.05892643705010414,
+                -0.0088803106918931,
+                0.15011440217494965,
+                0.1125558465719223,
+                -0.4773978590965271,
+                0.1814085841178894
+            ],
+            "ee_pos": [
+                0.2273120880126953,
+                0.14424659311771393,
+                0.090175099670887
+            ],
+            "ee_quat_wxyz": [
+                0.9878143668174744,
+                0.01283216942101717,
+                -0.13202573359012604,
+                0.0814085528254509
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1522236317396164,
+                -0.10802580416202545,
+                -0.11670238524675369,
+                0.06956842541694641,
+                -0.04170510545372963,
+                -0.04084223881363869,
+                -0.06948166340589523
+            ],
+            "ee_pos": [
+                0.2773660719394684,
+                -0.19180810451507568,
+                0.12698759138584137
+            ],
+            "ee_quat_wxyz": [
+                0.9926924109458923,
+                -0.06744644045829773,
+                -0.06426852196455002,
+                -0.07669591158628464
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525000095367432,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1291284561157227,
+                -0.07309418171644211,
+                0.19593682885169983,
+                0.5041086673736572,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060076043009757996,
+                -0.0033951245713979006,
+                -0.06949456036090851,
+                0.07016763836145401,
+                -0.05891445279121399,
+                -0.008856342174112797,
+                0.15003050863742828,
+                0.1125558465719223,
+                -0.4773978590965271,
+                0.18143925070762634,
+                -0.1516963243484497,
+                -0.10792993009090424,
+                -0.11660651117563248,
+                0.06866960972547531,
+                -0.04171708971261978,
+                -0.03988350182771683,
+                -0.069473996758461,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.0954841716962363,
+                -0.06817474484884677,
+                -0.00919351484173933,
+                0.14563486975759876,
+                0.1082248587821474,
+                -0.481194446738306,
+                0.1828316728081864
+            ],
+            "target_pos": [
+                0.22020426392555237,
+                0.1437647044658661,
+                0.0844510868191719
+            ],
+            "target_quat_wxyz": [
+                0.9871511459350586,
+                0.007935608737170696,
+                -0.13212332129478455,
+                0.08951563388109207
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.13117379780150892,
+                -0.10363806312446047,
+                -0.1095491098692041,
+                0.04469883599277076,
+                -0.04502120351066809,
+                -0.01962893800375365,
+                -0.06846114534011644
+            ],
+            "target_pos": [
+                0.2721552550792694,
+                -0.18969637155532837,
+                0.12580551207065582
+            ],
+            "target_quat_wxyz": [
+                0.993565022945404,
+                -0.06848493218421936,
+                -0.05150958150625229,
+                -0.07406128197908401
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000037_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 38,
+    "colors": {
+        "color_0": "colors/000038_color_0.jpg",
+        "color_2": "colors/000038_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.07668706029653549,
+                -0.0589623898267746,
+                -0.008808405138552189,
+                0.14852049946784973,
+                0.11256782710552216,
+                -0.4773978590965271,
+                0.18148528039455414
+            ],
+            "ee_pos": [
+                0.225786492228508,
+                0.14475004374980927,
+                0.08890066295862198
+            ],
+            "ee_quat_wxyz": [
+                0.9880863428115845,
+                0.013206000439822674,
+                -0.12923955917358398,
+                0.08251101523637772
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14847256243228912,
+                -0.10731873661279678,
+                -0.1155758649110794,
+                0.06191050633788109,
+                -0.04164518415927887,
+                -0.03408505395054817,
+                -0.069473996758461
+            ],
+            "ee_pos": [
+                0.2766835689544678,
+                -0.19159483909606934,
+                0.12706296145915985
+            ],
+            "ee_quat_wxyz": [
+                0.9927998185157776,
+                -0.06729011982679367,
+                -0.06284715980291367,
+                -0.0766213983297348
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525000095367432,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250059962272644,
+                0.009692373685538769,
+                -1.1290481090545654,
+                -0.07310270518064499,
+                0.19593682885169983,
+                0.5040916204452515,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06035727262496948,
+                -0.0034027344081550837,
+                -0.06948956847190857,
+                0.07740610837936401,
+                -0.05897437408566475,
+                -0.008808405138552189,
+                0.1484006643295288,
+                0.112531878054142,
+                -0.47740551829338074,
+                0.1814776062965393,
+                -0.14799319207668304,
+                -0.10723485052585602,
+                -0.1155039593577385,
+                0.061299312859773636,
+                -0.04165716841816902,
+                -0.03380126878619194,
+                -0.069473996758461,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10178465866559572,
+                -0.06930642912822224,
+                -0.011141120018924932,
+                0.1386813995536351,
+                0.10910336520910471,
+                -0.4809938109906127,
+                0.18246567719055135
+            ],
+            "target_pos": [
+                0.21895331144332886,
+                0.14332519471645355,
+                0.08491965383291245
+            ],
+            "target_quat_wxyz": [
+                0.9871532320976257,
+                0.008193515241146088,
+                -0.13230624794960022,
+                0.08919856697320938
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12549936919256716,
+                -0.10368025131883332,
+                -0.10622292070281628,
+                0.033704034707784436,
+                -0.04480747718435488,
+                -0.013097893528272241,
+                -0.06499089627480378
+            ],
+            "target_pos": [
+                0.27094119787216187,
+                -0.1887522041797638,
+                0.12647077441215515
+            ],
+            "target_quat_wxyz": [
+                0.9938540458679199,
+                -0.0701662227511406,
+                -0.05072782188653946,
+                -0.06897510588169098
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000038_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 39,
+    "colors": {
+        "color_0": "colors/000039_color_0.jpg",
+        "color_2": "colors/000039_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.08324243128299713,
+                -0.05897437408566475,
+                -0.009131979197263718,
+                0.14659103751182556,
+                0.11259179562330246,
+                -0.47739019989967346,
+                0.1814315915107727
+            ],
+            "ee_pos": [
+                0.22445830702781677,
+                0.1450994312763214,
+                0.08791864663362503
+            ],
+            "ee_quat_wxyz": [
+                0.9883019924163818,
+                0.013503236696124077,
+                -0.12707340717315674,
+                0.08324161171913147
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1435350626707077,
+                -0.10704310238361359,
+                -0.11443736404180527,
+                0.053940996527671814,
+                -0.04158526286482811,
+                -0.029099617153406143,
+                -0.06904447823762894
+            ],
+            "ee_pos": [
+                0.27576011419296265,
+                -0.19150204956531525,
+                0.12708953022956848
+            ],
+            "ee_quat_wxyz": [
+                0.9928675293922424,
+                -0.06741880625486374,
+                -0.0618949718773365,
+                -0.07640531659126282
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525803565979004,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1290079355239868,
+                -0.07310270518064499,
+                0.1959100365638733,
+                0.5040064454078674,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06077242270112038,
+                -0.0034331842325627804,
+                -0.06948962062597275,
+                0.08324243128299713,
+                -0.05897437408566475,
+                -0.009131979197263718,
+                0.14659103751182556,
+                0.11259179562330246,
+                -0.47739019989967346,
+                0.1814315915107727,
+                -0.1435350626707077,
+                -0.10704310238361359,
+                -0.11443736404180527,
+                0.053940996527671814,
+                -0.04158526286482811,
+                -0.029099617153406143,
+                -0.06904447823762894,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1080664995934705,
+                -0.07056825759260862,
+                -0.013415716396619374,
+                0.1319122602639705,
+                0.110415394489375,
+                -0.48085105684868135,
+                0.18239752353831787
+            ],
+            "target_pos": [
+                0.2178138792514801,
+                0.142894446849823,
+                0.08509443700313568
+            ],
+            "target_quat_wxyz": [
+                0.9871646761894226,
+                0.008247341960668564,
+                -0.13215689361095428,
+                0.08928833901882172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11965009952621024,
+                -0.10482880659045238,
+                -0.10210360511179126,
+                0.022059994553599922,
+                -0.04510661348788031,
+                -0.006807112592144291,
+                -0.06010341100639006
+            ],
+            "target_pos": [
+                0.26985737681388855,
+                -0.18805187940597534,
+                0.127258762717247
+            ],
+            "target_quat_wxyz": [
+                0.9940476417541504,
+                -0.07210476696491241,
+                -0.050326861441135406,
+                -0.06432238221168518
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000039_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 40,
+    "colors": {
+        "color_0": "colors/000040_color_0.jpg",
+        "color_2": "colors/000040_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.08988168835639954,
+                -0.059010326862335205,
+                -0.009419601410627365,
+                0.14195315539836884,
+                0.11267568916082382,
+                -0.47739019989967346,
+                0.1814776062965393
+            ],
+            "ee_pos": [
+                0.22315195202827454,
+                0.14549461007118225,
+                0.08753465116024017
+            ],
+            "ee_quat_wxyz": [
+                0.9883338809013367,
+                0.01374276727437973,
+                -0.12620869278907776,
+                0.08413463830947876
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1369916796684265,
+                -0.10705508291721344,
+                -0.11192067712545395,
+                0.04259193688631058,
+                -0.04164518415927887,
+                -0.02302505262196064,
+                -0.06726506352424622
+            ],
+            "ee_pos": [
+                0.27455219626426697,
+                -0.1911165863275528,
+                0.12735776603221893
+            ],
+            "ee_quat_wxyz": [
+                0.9929799437522888,
+                -0.0679217204451561,
+                -0.06125538423657417,
+                -0.07500173151493073
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527276992797852,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1289677619934082,
+                -0.07310270518064499,
+                0.19588325917720795,
+                0.5040064454078674,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060732245445251465,
+                -0.0034788569901138544,
+                -0.06945966184139252,
+                0.08988168835639954,
+                -0.059010326862335205,
+                -0.009419601410627365,
+                0.14195315539836884,
+                0.11267568916082382,
+                -0.47739019989967346,
+                0.1814776062965393,
+                -0.1369916796684265,
+                -0.10705508291721344,
+                -0.11192067712545395,
+                0.04259193688631058,
+                -0.04164518415927887,
+                -0.02302505262196064,
+                -0.06726506352424622,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11207701692644001,
+                -0.0723413492321746,
+                -0.015311914367449475,
+                0.12960049307477975,
+                0.11240248433728633,
+                -0.4813877891345,
+                0.18376533031109715
+            ],
+            "target_pos": [
+                0.21770629286766052,
+                0.14211580157279968,
+                0.08397255837917328
+            ],
+            "target_quat_wxyz": [
+                0.9871770739555359,
+                0.008153323084115982,
+                -0.13129639625549316,
+                0.09042241424322128
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11555460009786554,
+                -0.10678505533968947,
+                -0.09863924757915386,
+                0.013272173476755664,
+                -0.04581484207309918,
+                -0.001550231280419883,
+                -0.05567534971711654
+            ],
+            "target_pos": [
+                0.2697971761226654,
+                -0.188007190823555,
+                0.12747178971767426
+            ],
+            "target_quat_wxyz": [
+                0.9940414428710938,
+                -0.07411213964223862,
+                -0.05023341253399849,
+                -0.062174178659915924
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000040_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 41,
+    "colors": {
+        "color_0": "colors/000041_color_0.jpg",
+        "color_2": "colors/000041_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.09369267523288727,
+                -0.05909421294927597,
+                -0.009827064350247383,
+                0.13882526755332947,
+                0.11274759471416473,
+                -0.4773978590965271,
+                0.18166935443878174
+            ],
+            "ee_pos": [
+                0.2224106639623642,
+                0.14566408097743988,
+                0.0874265655875206
+            ],
+            "ee_quat_wxyz": [
+                0.9883231520652771,
+                0.013811919838190079,
+                -0.12595416605472565,
+                0.0846296101808548
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1315508335828781,
+                -0.10715095698833466,
+                -0.10778611898422241,
+                0.03289669752120972,
+                -0.041741058230400085,
+                -0.016766410320997238,
+                -0.06402835994958878
+            ],
+            "ee_pos": [
+                0.2736194431781769,
+                -0.19022934138774872,
+                0.12747956812381744
+            ],
+            "ee_quat_wxyz": [
+                0.9932282567024231,
+                -0.06852207332849503,
+                -0.06016642227768898,
+                -0.0719883143901825
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052754521369934,
+                -0.1274346113204956,
+                -0.0025712440256029367,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1287133693695068,
+                -0.07311122864484787,
+                0.1959100365638733,
+                0.5040234923362732,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06029031425714493,
+                -0.003456022823229432,
+                -0.06947464495897293,
+                0.09473530203104019,
+                -0.05908222869038582,
+                -0.009863017126917839,
+                0.13801033794879913,
+                0.11277155578136444,
+                -0.47739019989967346,
+                0.18180741369724274,
+                -0.1294535994529724,
+                -0.10727079957723618,
+                -0.10567689687013626,
+                0.029325399547815323,
+                -0.0418129600584507,
+                -0.015316799283027649,
+                -0.06280884891748428,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1150934522355801,
+                -0.07446142069139995,
+                -0.016448651368918373,
+                0.12920098642011352,
+                0.11392455576478924,
+                -0.4814823180640916,
+                0.18597097390845735
+            ],
+            "target_pos": [
+                0.2172190099954605,
+                0.14185050129890442,
+                0.08322611451148987
+            ],
+            "target_quat_wxyz": [
+                0.9872278571128845,
+                0.007343437056988478,
+                -0.1295444369316101,
+                0.09244182705879211
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1120952673775909,
+                -0.10833940250357389,
+                -0.09608380424084048,
+                0.004805057162314724,
+                -0.04623840274282836,
+                0.0034989890509332508,
+                -0.052553873622789515
+            ],
+            "target_pos": [
+                0.26915499567985535,
+                -0.18776465952396393,
+                0.12827125191688538
+            ],
+            "target_quat_wxyz": [
+                0.9940539002418518,
+                -0.07451729476451874,
+                -0.0505058728158474,
+                -0.06126265600323677
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000041_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 42,
+    "colors": {
+        "color_0": "colors/000042_color_0.jpg",
+        "color_2": "colors/000042_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.09608951956033707,
+                -0.05915413424372673,
+                -0.010210559703409672,
+                0.13713549077510834,
+                0.11295132339000702,
+                -0.4773978590965271,
+                0.1823289692401886
+            ],
+            "ee_pos": [
+                0.22193697094917297,
+                0.14575430750846863,
+                0.08730025589466095
+            ],
+            "ee_quat_wxyz": [
+                0.9883171916007996,
+                0.013886533677577972,
+                -0.12566867470741272,
+                0.08510947227478027
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1242884024977684,
+                -0.10721088200807571,
+                -0.10083527117967606,
+                0.022230736911296844,
+                -0.04193280264735222,
+                -0.011267089284956455,
+                -0.05950311943888664
+            ],
+            "ee_pos": [
+                0.272403359413147,
+                -0.18867474794387817,
+                0.12734882533550262
+            ],
+            "ee_quat_wxyz": [
+                0.993586540222168,
+                -0.0693506971001625,
+                -0.05896412581205368,
+                -0.06707803905010223
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527009963989258,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1286195516586304,
+                -0.07310270518064499,
+                0.1959100365638733,
+                0.5040320158004761,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.060250137001276016,
+                -0.0034864747431129217,
+                -0.0695047527551651,
+                0.09608951956033707,
+                -0.05915413424372673,
+                -0.010210559703409672,
+                0.13713549077510834,
+                0.11295132339000702,
+                -0.4773978590965271,
+                0.1823289692401886,
+                -0.1242884024977684,
+                -0.10721088200807571,
+                -0.10083527117967606,
+                0.022230736911296844,
+                -0.04193280264735222,
+                -0.011267089284956455,
+                -0.05950311943888664,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11742329100718864,
+                -0.07657631973327728,
+                -0.01721831932998319,
+                0.1299286172452948,
+                0.11478429346838268,
+                -0.48164551725892274,
+                0.18827891797399834
+            ],
+            "target_pos": [
+                0.21677005290985107,
+                0.14154928922653198,
+                0.08260618150234222
+            ],
+            "target_quat_wxyz": [
+                0.9872681498527527,
+                0.006386231631040573,
+                -0.12841376662254333,
+                0.09365233778953552
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10912430632400377,
+                -0.10957103584394895,
+                -0.09445540201771413,
+                -0.0030199728738027082,
+                -0.04584150816546899,
+                0.00830354797095497,
+                -0.05053809687865263
+            ],
+            "target_pos": [
+                0.2686516046524048,
+                -0.18778441846370697,
+                0.12886129319667816
+            ],
+            "target_quat_wxyz": [
+                0.9941048622131348,
+                -0.07424285262823105,
+                -0.05063214898109436,
+                -0.060662172734737396
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000042_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 43,
+    "colors": {
+        "color_0": "colors/000043_color_0.jpg",
+        "color_2": "colors/000043_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.09734786301851273,
+                -0.05927397683262825,
+                -0.010737866163253784,
+                0.13647635281085968,
+                0.11298727244138718,
+                -0.4773978590965271,
+                0.18323402106761932
+            ],
+            "ee_pos": [
+                0.2216835469007492,
+                0.14573487639427185,
+                0.08718745410442352
+            ],
+            "ee_quat_wxyz": [
+                0.9883176684379578,
+                0.013784973882138729,
+                -0.1254153549671173,
+                0.08549351245164871
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11930296570062637,
+                -0.10718691349029541,
+                -0.09590975195169449,
+                0.014548849314451218,
+                -0.0421125665307045,
+                -0.0055223312228918076,
+                -0.05570651590824127
+            ],
+            "ee_pos": [
+                0.27158287167549133,
+                -0.1875380128622055,
+                0.1271478533744812
+            ],
+            "ee_quat_wxyz": [
+                0.993889570236206,
+                -0.0699034109711647,
+                -0.05730506405234337,
+                -0.0633498877286911
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.12742608785629272,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1283785104751587,
+                -0.07309418171644211,
+                0.19586986303329468,
+                0.5040149688720703,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0602099634706974,
+                -0.0034636405762284994,
+                -0.06951972842216492,
+                0.0975036546587944,
+                -0.0592859610915184,
+                -0.01085770782083273,
+                0.13645239174365997,
+                0.11302322894334793,
+                -0.47739019989967346,
+                0.1833644062280655,
+                -0.11858391016721725,
+                -0.10718691349029541,
+                -0.09537046402692795,
+                0.013098758645355701,
+                -0.04212455078959465,
+                -0.004801359958946705,
+                -0.05513894185423851,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11924925415997056,
+                -0.07852324354235399,
+                -0.018074860527404524,
+                0.1308678053467322,
+                0.11478914229339554,
+                -0.4819487051668713,
+                0.19003352358459352
+            ],
+            "target_pos": [
+                0.21644200384616852,
+                0.14110113680362701,
+                0.08223025500774384
+            ],
+            "target_quat_wxyz": [
+                0.9873300790786743,
+                0.004968762397766113,
+                -0.12778781354427338,
+                0.09394092112779617
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10677526117858671,
+                -0.11031023254939412,
+                -0.09367026787943683,
+                -0.010218981915997408,
+                -0.044760022390471464,
+                0.013404017098841696,
+                -0.049169692240397765
+            ],
+            "target_pos": [
+                0.268328994512558,
+                -0.18783731758594513,
+                0.1294349879026413
+            ],
+            "target_quat_wxyz": [
+                0.9942001700401306,
+                -0.07349284738302231,
+                -0.050189465284347534,
+                -0.06038049980998039
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000043_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 44,
+    "colors": {
+        "color_0": "colors/000044_color_0.jpg",
+        "color_2": "colors/000044_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.09894176572561264,
+                -0.059357866644859314,
+                -0.011636682786047459,
+                0.136320561170578,
+                0.11309513449668884,
+                -0.47739019989967346,
+                0.18420809507369995
+            ],
+            "ee_pos": [
+                0.2213548868894577,
+                0.14564651250839233,
+                0.08689555525779724
+            ],
+            "ee_quat_wxyz": [
+                0.988379180431366,
+                0.013723455369472504,
+                -0.12476623803377151,
+                0.08574153482913971
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11609119176864624,
+                -0.10718691349029541,
+                -0.09372862428426743,
+                0.006687197834253311,
+                -0.04194478690624237,
+                -0.00028378647402860224,
+                -0.052316416054964066
+            ],
+            "ee_pos": [
+                0.2710048258304596,
+                -0.18695831298828125,
+                0.127568781375885
+            ],
+            "ee_quat_wxyz": [
+                0.9940463900566101,
+                -0.0701112449169159,
+                -0.05690532922744751,
+                -0.06097562983632088
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1283249855041504,
+                -0.07311975210905075,
+                0.1958564668893814,
+                0.5040149688720703,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.0602099634706974,
+                -0.0034331867936998606,
+                -0.069529689848423,
+                0.09894176572561264,
+                -0.059357866644859314,
+                -0.011636682786047459,
+                0.136320561170578,
+                0.11309513449668884,
+                -0.47739019989967346,
+                0.18420809507369995,
+                -0.11609119176864624,
+                -0.10718691349029541,
+                -0.09372862428426743,
+                0.006687197834253311,
+                -0.04194478690624237,
+                -0.00028378647402860224,
+                -0.052316416054964066,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12095288721835168,
+                -0.0800658718416179,
+                -0.019510133032080282,
+                0.13134470561679853,
+                0.11455012151513701,
+                -0.4826490221752616,
+                0.19104142320455542
+            ],
+            "target_pos": [
+                0.21613015234470367,
+                0.14044250547885895,
+                0.08201030641794205
+            ],
+            "target_quat_wxyz": [
+                0.9873908162117004,
+                0.00411232141777873,
+                -0.12782995402812958,
+                0.09328456223011017
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1044484431438753,
+                -0.1105310097898735,
+                -0.09307735356414487,
+                -0.01711676172486927,
+                -0.0435864436671365,
+                0.018556968105051308,
+                -0.047592324664974484
+            ],
+            "target_pos": [
+                0.26790651679039,
+                -0.18762411177158356,
+                0.12976841628551483
+            ],
+            "target_quat_wxyz": [
+                0.9943269491195679,
+                -0.07306735217571259,
+                -0.0495549701154232,
+                -0.05932419002056122
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000044_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 45,
+    "colors": {
+        "color_0": "colors/000045_color_0.jpg",
+        "color_2": "colors/000045_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10125471651554108,
+                -0.05944175645709038,
+                -0.012008193880319595,
+                0.13630858063697815,
+                0.11307116597890854,
+                -0.4773978590965271,
+                0.1860872209072113
+            ],
+            "ee_pos": [
+                0.22085803747177124,
+                0.1457769125699997,
+                0.08641285449266434
+            ],
+            "ee_quat_wxyz": [
+                0.9884222745895386,
+                0.013648494146764278,
+                -0.12369434535503387,
+                0.0868036076426506
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11549197882413864,
+                -0.10722286254167557,
+                -0.0930095687508583,
+                -4.793690095539205e-05,
+                -0.04178899526596069,
+                0.005108156241476536,
+                -0.05089748650789261
+            ],
+            "ee_pos": [
+                0.2708693742752075,
+                -0.18667659163475037,
+                0.1284441500902176
+            ],
+            "ee_quat_wxyz": [
+                0.9940816164016724,
+                -0.07013463228940964,
+                -0.05723126232624054,
+                -0.06006218492984772
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1283518075942993,
+                -0.07311122864484787,
+                0.1958564668893814,
+                0.504040539264679,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.0602099634706974,
+                -0.003440802451223135,
+                -0.0695447251200676,
+                0.10151837021112442,
+                -0.05945374071598053,
+                -0.012104067951440811,
+                0.136320561170578,
+                0.11308314651250839,
+                -0.4773978590965271,
+                0.18630965054035187,
+                -0.11547999083995819,
+                -0.10724683105945587,
+                -0.0930095687508583,
+                -0.0005273059359751642,
+                -0.04177701100707054,
+                0.005430292338132858,
+                -0.05083612725138664,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12256579226237768,
+                -0.08110954120382627,
+                -0.021511051949387124,
+                0.1312864590700841,
+                0.1144117874228929,
+                -0.4836796060076133,
+                0.19148567816005937
+            ],
+            "target_pos": [
+                0.21577979624271393,
+                0.13985168933868408,
+                0.08201175183057785
+            ],
+            "target_quat_wxyz": [
+                0.9874451756477356,
+                0.003611956723034382,
+                -0.12815652787685394,
+                0.092276431620121
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10204777528689395,
+                -0.11052229539679655,
+                -0.09230533627778126,
+                -0.023405378140438395,
+                -0.04284735561235342,
+                0.02337264135147302,
+                -0.045916870984521824
+            ],
+            "target_pos": [
+                0.2673616111278534,
+                -0.18731288611888885,
+                0.12997454404830933
+            ],
+            "target_quat_wxyz": [
+                0.994418203830719,
+                -0.07316426932811737,
+                -0.04893101751804352,
+                -0.0581822507083416
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000045_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 46,
+    "colors": {
+        "color_0": "colors/000046_color_0.jpg",
+        "color_2": "colors/000046_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10408299416303635,
+                -0.05946572497487068,
+                -0.01290701050311327,
+                0.136320561170578,
+                0.11309513449668884,
+                -0.47742852568626404,
+                0.18788965046405792
+            ],
+            "ee_pos": [
+                0.2202569842338562,
+                0.14581604301929474,
+                0.08582627028226852
+            ],
+            "ee_quat_wxyz": [
+                0.9885121583938599,
+                0.013602487742900848,
+                -0.12239640951156616,
+                0.08762313425540924
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11484482884407043,
+                -0.10736667364835739,
+                -0.09309346228837967,
+                -0.005368933081626892,
+                -0.04176502674818039,
+                0.00951068103313446,
+                -0.05045263096690178
+            ],
+            "ee_pos": [
+                0.27070966362953186,
+                -0.18668493628501892,
+                0.1291033923625946
+            ],
+            "ee_quat_wxyz": [
+                0.9940691590309143,
+                -0.07022523134946823,
+                -0.05737034231424332,
+                -0.06002998724579811
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.12833833694458,
+                -0.07310270518064499,
+                0.19582968950271606,
+                0.5040575861930847,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06019657105207443,
+                -0.0035017041955143213,
+                -0.06957489997148514,
+                0.10408299416303635,
+                -0.05946572497487068,
+                -0.01290701050311327,
+                0.136320561170578,
+                0.11309513449668884,
+                -0.47742852568626404,
+                0.18788965046405792,
+                -0.11484482884407043,
+                -0.10736667364835739,
+                -0.09309346228837967,
+                -0.005368933081626892,
+                -0.04176502674818039,
+                0.00951068103313446,
+                -0.05045263096690178,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12398947909217226,
+                -0.0817903793910364,
+                -0.024050489063236737,
+                0.13071189864331068,
+                0.11462515960566294,
+                -0.4846458268925041,
+                0.19169374037736397
+            ],
+            "target_pos": [
+                0.21555501222610474,
+                0.13912253081798553,
+                0.08215046674013138
+            ],
+            "target_quat_wxyz": [
+                0.987511396408081,
+                0.0033643455244600773,
+                -0.1285971701145172,
+                0.09095455706119537
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09890957343654871,
+                -0.11070801553036078,
+                -0.09123229857243859,
+                -0.030596852169154636,
+                -0.04113518784168832,
+                0.029236481601815946,
+                -0.042438699209935676
+            ],
+            "target_pos": [
+                0.26645565032958984,
+                -0.18699169158935547,
+                0.13031531870365143
+            ],
+            "target_quat_wxyz": [
+                0.9948236346244812,
+                -0.071916364133358,
+                -0.04671771079301834,
+                -0.054510895162820816
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000046_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 47,
+    "colors": {
+        "color_0": "colors/000047_color_0.jpg",
+        "color_2": "colors/000047_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1071389764547348,
+                -0.05945374071598053,
+                -0.014009559527039528,
+                0.136320561170578,
+                0.11307116597890854,
+                -0.4774438738822937,
+                0.18948498368263245
+            ],
+            "ee_pos": [
+                0.21961063146591187,
+                0.14581817388534546,
+                0.0851968377828598
+            ],
+            "ee_quat_wxyz": [
+                0.9886274933815002,
+                0.013556253165006638,
+                -0.1209922581911087,
+                0.08827660977840424
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11328688263893127,
+                -0.10736667364835739,
+                -0.0929616317152977,
+                -0.013374395668506622,
+                -0.041129861027002335,
+                0.01544718723744154,
+                -0.049064379185438156
+            ],
+            "ee_pos": [
+                0.27036252617836,
+                -0.18658989667892456,
+                0.12998370826244354
+            ],
+            "ee_quat_wxyz": [
+                0.9941025972366333,
+                -0.07000937312841415,
+                -0.05760173127055168,
+                -0.05950381979346275
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0526340007781982,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128458857536316,
+                -0.07311122864484787,
+                0.19582968950271606,
+                0.5040234923362732,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.0602099634706974,
+                -0.003478867467492819,
+                -0.0695498064160347,
+                0.10764230787754059,
+                -0.05945374071598053,
+                -0.014153369702398777,
+                0.13630858063697815,
+                0.11308314651250839,
+                -0.47745922207832336,
+                0.1896613985300064,
+                -0.11301124095916748,
+                -0.10740263015031815,
+                -0.09292568266391754,
+                -0.015040202997624874,
+                -0.04109390825033188,
+                0.016191167756915092,
+                -0.04874224215745926,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12487598179240628,
+                -0.08187674829997044,
+                -0.026439876125525445,
+                0.13053295996929623,
+                0.11497625901640215,
+                -0.48594349533310477,
+                0.19183522038882575
+            ],
+            "target_pos": [
+                0.2155228555202484,
+                0.1387597620487213,
+                0.08211159706115723
+            ],
+            "target_quat_wxyz": [
+                0.9875016808509827,
+                0.0034641544334590435,
+                -0.12942282855510712,
+                0.08987879008054733
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09446780753163647,
+                -0.11088986372581716,
+                -0.09002615602513675,
+                -0.039141286703294836,
+                -0.037461575337351276,
+                0.036169898564577176,
+                -0.036720206744101584
+            ],
+            "target_pos": [
+                0.26522156596183777,
+                -0.18663746118545532,
+                0.1304025650024414
+            ],
+            "target_quat_wxyz": [
+                0.9954126477241516,
+                -0.06889506429433823,
+                -0.04400256276130676,
+                -0.04970870167016983
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000047_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 48,
+    "colors": {
+        "color_0": "colors/000048_color_0.jpg",
+        "color_2": "colors/000048_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11026685684919357,
+                -0.059429772198200226,
+                -0.015064171515405178,
+                0.1362966001033783,
+                0.11308314651250839,
+                -0.47749757766723633,
+                0.19001421332359314
+            ],
+            "ee_pos": [
+                0.21895575523376465,
+                0.14578388631343842,
+                0.08456234633922577
+            ],
+            "ee_quat_wxyz": [
+                0.988785445690155,
+                0.013604074716567993,
+                -0.1195773109793663,
+                0.08842845261096954
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11136940866708755,
+                -0.10745056718587875,
+                -0.0927099660038948,
+                -0.022530343383550644,
+                -0.03982358053326607,
+                0.02070874162018299,
+                -0.045030009001493454
+            ],
+            "ee_pos": [
+                0.2699360251426697,
+                -0.18633738160133362,
+                0.13108409941196442
+            ],
+            "ee_quat_wxyz": [
+                0.9941936731338501,
+                -0.06960400938987732,
+                -0.058481089770793915,
+                -0.057569343596696854
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527276992797852,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.128566026687622,
+                -0.07311122864484787,
+                0.19582968950271606,
+                0.5040320158004761,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0602099634706974,
+                -0.0034940929617732763,
+                -0.06955985724925995,
+                0.11026685684919357,
+                -0.059429772198200226,
+                -0.015064171515405178,
+                0.1362966001033783,
+                0.11308314651250839,
+                -0.47749757766723633,
+                0.19001421332359314,
+                -0.11136940866708755,
+                -0.10745056718587875,
+                -0.0927099660038948,
+                -0.022530343383550644,
+                -0.03982358053326607,
+                0.02070874162018299,
+                -0.045030009001493454,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12531239199317543,
+                -0.08161690041961901,
+                -0.02801398382406611,
+                0.13073053559845704,
+                0.11518856701819996,
+                -0.48711389253385384,
+                0.19207469417507705
+            ],
+            "target_pos": [
+                0.2155301719903946,
+                0.1387738436460495,
+                0.0819992646574974
+            ],
+            "target_quat_wxyz": [
+                0.9874658584594727,
+                0.0035718416329473257,
+                -0.1297498494386673,
+                0.08979643881320953
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08907775828947065,
+                -0.11095064568844032,
+                -0.08889479282868776,
+                -0.048089508108875245,
+                -0.03324094514700895,
+                0.04378012329511326,
+                -0.03005256999406023
+            ],
+            "target_pos": [
+                0.2639980912208557,
+                -0.18636320531368256,
+                0.13010618090629578
+            ],
+            "target_quat_wxyz": [
+                0.9958543181419373,
+                -0.06697715818881989,
+                -0.04076705127954483,
+                -0.04611124098300934
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000048_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 49,
+    "colors": {
+        "color_0": "colors/000049_color_0.jpg",
+        "color_2": "colors/000049_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11200457066297531,
+                -0.05940580368041992,
+                -0.016897758468985558,
+                0.136320561170578,
+                0.1131550520658493,
+                -0.4775359034538269,
+                0.19006022810935974
+            ],
+            "ee_pos": [
+                0.2186065912246704,
+                0.14545105397701263,
+                0.08422040194272995
+            ],
+            "ee_quat_wxyz": [
+                0.9889362454414368,
+                0.013539312407374382,
+                -0.11881839483976364,
+                0.08777211606502533
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10788199305534363,
+                -0.10764230787754059,
+                -0.0926620289683342,
+                -0.030775491148233414,
+                -0.03892476484179497,
+                0.02707476168870926,
+                -0.0390704944729805
+            ],
+            "ee_pos": [
+                0.26925885677337646,
+                -0.1862127035856247,
+                0.13146153092384338
+            ],
+            "ee_quat_wxyz": [
+                0.9943979978561401,
+                -0.06954942643642426,
+                -0.057530101388692856,
+                -0.05500705912709236
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527143478393555,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128592848777771,
+                -0.07310270518064499,
+                0.19582968950271606,
+                0.5040575861930847,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06011622026562691,
+                -0.0034940929617732763,
+                -0.06955985724925995,
+                0.11200457066297531,
+                -0.05940580368041992,
+                -0.016897758468985558,
+                0.136320561170578,
+                0.1131550520658493,
+                -0.4775359034538269,
+                0.19006022810935974,
+                -0.10788199305534363,
+                -0.10764230787754059,
+                -0.0926620289683342,
+                -0.030775491148233414,
+                -0.03892476484179497,
+                0.02707476168870926,
+                -0.0390704944729805,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12471012575734454,
+                -0.08112223842762828,
+                -0.028448637877901705,
+                0.13152870275954245,
+                0.11481345342013934,
+                -0.4878130737169372,
+                0.19259393327711513
+            ],
+            "target_pos": [
+                0.21593955159187317,
+                0.13908730447292328,
+                0.08199112862348557
+            ],
+            "target_quat_wxyz": [
+                0.9873648881912231,
+                0.003267844906076789,
+                -0.13001613318920135,
+                0.0905303955078125
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08287644071382777,
+                -0.11061320445721559,
+                -0.08806486963539309,
+                -0.05779350044314554,
+                -0.028756626190330904,
+                0.053340114749422816,
+                -0.022654714154670397
+            ],
+            "target_pos": [
+                0.26261672377586365,
+                -0.1860830932855606,
+                0.12970177829265594
+            ],
+            "target_quat_wxyz": [
+                0.9963634014129639,
+                -0.06458946317434311,
+                -0.03562777116894722,
+                -0.042647670954465866
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000049_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 50,
+    "colors": {
+        "color_0": "colors/000050_color_0.jpg",
+        "color_2": "colors/000050_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11292735487222672,
+                -0.05932191386818886,
+                -0.018491659313440323,
+                0.136320561170578,
+                0.11311910301446915,
+                -0.47768932580947876,
+                0.1900985836982727
+            ],
+            "ee_pos": [
+                0.21842420101165771,
+                0.14514151215553284,
+                0.08406197279691696
+            ],
+            "ee_quat_wxyz": [
+                0.9890317320823669,
+                0.01342572271823883,
+                -0.1185062900185585,
+                0.08713346719741821
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10263290256261826,
+                -0.1077142134308815,
+                -0.09149955958127975,
+                -0.03990747034549713,
+                -0.03670768067240715,
+                0.03415408357977867,
+                -0.03213689848780632
+            ],
+            "ee_pos": [
+                0.26828378438949585,
+                -0.18585315346717834,
+                0.13148218393325806
+            ],
+            "ee_quat_wxyz": [
+                0.9947307109832764,
+                -0.06888969987630844,
+                -0.0557636059820652,
+                -0.0515311025083065
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26223400235176086,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.128458857536316,
+                -0.07311975210905075,
+                0.19582968950271606,
+                0.5040831565856934,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.05982159823179245,
+                -0.0035017041955143213,
+                -0.06957489997148514,
+                0.11299926042556763,
+                -0.05932191386818886,
+                -0.01865943893790245,
+                0.136320561170578,
+                0.11311910301446915,
+                -0.47775834798812866,
+                0.1901445984840393,
+                -0.10191385447978973,
+                -0.1077142134308815,
+                -0.09119995683431625,
+                -0.040950097143650055,
+                -0.036384109407663345,
+                0.03553466498851776,
+                -0.031032433733344078,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12329477334888592,
+                -0.08019939169081086,
+                -0.02783333475420221,
+                0.13244371389723752,
+                0.11404244867173391,
+                -0.48806258846557293,
+                0.19325996224518044
+            ],
+            "target_pos": [
+                0.21641531586647034,
+                0.1396781951189041,
+                0.08217793703079224
+            ],
+            "target_quat_wxyz": [
+                0.9872145056724548,
+                0.0034773838706314564,
+                -0.1305689513683319,
+                0.09136315435171127
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07546057788043393,
+                -0.1104470086917845,
+                -0.08721944436105404,
+                -0.06914463805619758,
+                -0.023618818122747284,
+                0.06536099082454414,
+                -0.014138161875927917
+            ],
+            "target_pos": [
+                0.2607986032962799,
+                -0.18584150075912476,
+                0.12938660383224487
+            ],
+            "target_quat_wxyz": [
+                0.9969469308853149,
+                -0.06183609366416931,
+                -0.029211830347776413,
+                -0.03768044337630272
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000050_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 51,
+    "colors": {
+        "color_0": "colors/000051_color_0.jpg",
+        "color_2": "colors/000051_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11296330392360687,
+                -0.0592619925737381,
+                -0.019773971289396286,
+                0.136320561170578,
+                0.1131550520658493,
+                -0.47798845171928406,
+                0.19015227258205414
+            ],
+            "ee_pos": [
+                0.21842293441295624,
+                0.14484600722789764,
+                0.08409960567951202
+            ],
+            "ee_quat_wxyz": [
+                0.9890656471252441,
+                0.013309004716575146,
+                -0.11868159472942352,
+                0.08652552217245102
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09617340564727783,
+                -0.10765429586172104,
+                -0.09042097628116608,
+                -0.049135323613882065,
+                -0.033184319734573364,
+                0.045382823795080185,
+                -0.02449767477810383
+            ],
+            "ee_pos": [
+                0.26712673902511597,
+                -0.185587078332901,
+                0.1308150440454483
+            ],
+            "ee_quat_wxyz": [
+                0.9952412843704224,
+                -0.06750789284706116,
+                -0.051378343254327774,
+                -0.0479351244866848
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525670051574707,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1283785104751587,
+                -0.07311975210905075,
+                0.19582968950271606,
+                0.5040916204452515,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.059741247445344925,
+                -0.0035397715400904417,
+                -0.06969015300273895,
+                0.11296330392360687,
+                -0.0592619925737381,
+                -0.019773971289396286,
+                0.136320561170578,
+                0.1131550520658493,
+                -0.47798845171928406,
+                0.19015227258205414,
+                -0.09617340564727783,
+                -0.10765429586172104,
+                -0.09042097628116608,
+                -0.049135323613882065,
+                -0.033184319734573364,
+                0.045382823795080185,
+                -0.02449767477810383,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12158288624222792,
+                -0.079042434424315,
+                -0.026551058064325908,
+                0.13295482308409567,
+                0.11283027541496857,
+                -0.4880732449653865,
+                0.1938339739931449
+            ],
+            "target_pos": [
+                0.21678298711776733,
+                0.14035658538341522,
+                0.08250486105680466
+            ],
+            "target_quat_wxyz": [
+                0.9870290160179138,
+                0.0034034864511340857,
+                -0.1313745528459549,
+                0.09221117943525314
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.06617952164721463,
+                -0.1112719201180518,
+                -0.0862441079506836,
+                -0.08283019542169023,
+                -0.017417745582158115,
+                0.07949505952072813,
+                -0.003559634060415845
+            ],
+            "target_pos": [
+                0.25838273763656616,
+                -0.1858527511358261,
+                0.12905214726924896
+            ],
+            "target_quat_wxyz": [
+                0.9975088834762573,
+                -0.05929994210600853,
+                -0.0225234255194664,
+                -0.030859090387821198
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000051_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 52,
+    "colors": {
+        "color_0": "colors/000052_color_0.jpg",
+        "color_2": "colors/000052_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11292735487222672,
+                -0.05915413424372673,
+                -0.020325245335698128,
+                0.136320561170578,
+                0.11308314651250839,
+                -0.478295236825943,
+                0.19018295407295227
+            ],
+            "ee_pos": [
+                0.21842849254608154,
+                0.14473406970500946,
+                0.08414221554994583
+            ],
+            "ee_quat_wxyz": [
+                0.9890669584274292,
+                0.01324545405805111,
+                -0.11886812001466751,
+                0.08626426011323929
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08619055151939392,
+                -0.1077142134308815,
+                -0.08974986523389816,
+                -0.06241384521126747,
+                -0.027036411687731743,
+                0.05740923434495926,
+                -0.01504835207015276
+            ],
+            "ee_pos": [
+                0.26525893807411194,
+                -0.18549707531929016,
+                0.1301221400499344
+            ],
+            "ee_quat_wxyz": [
+                0.9958187341690063,
+                -0.06501949578523636,
+                -0.046891480684280396,
+                -0.043802425265312195
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0526340007781982,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1283518075942993,
+                -0.07311122864484787,
+                0.1958564668893814,
+                0.5041086673736572,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.0596608966588974,
+                -0.003539772005751729,
+                -0.06970017403364182,
+                0.11292735487222672,
+                -0.05915413424372673,
+                -0.020325245335698128,
+                0.136320561170578,
+                0.11308314651250839,
+                -0.478295236825943,
+                0.19018295407295227,
+                -0.08619055151939392,
+                -0.1077142134308815,
+                -0.08974986523389816,
+                -0.06241384521126747,
+                -0.027036411687731743,
+                0.05740923434495926,
+                -0.01504835207015276,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11988782111209247,
+                -0.07776746344221792,
+                -0.024861704531230655,
+                0.1330399628577071,
+                0.1115855456252294,
+                -0.48821671475313355,
+                0.19438592839131688
+            ],
+            "target_pos": [
+                0.21706262230873108,
+                0.14107796549797058,
+                0.08286996185779572
+            ],
+            "target_quat_wxyz": [
+                0.9867861270904541,
+                0.003575593000277877,
+                -0.13243864476680756,
+                0.09327547997236252
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05517039050970082,
+                -0.1129645777516757,
+                -0.08572447545841931,
+                -0.0981720417244077,
+                -0.010688921715753212,
+                0.09365147744058291,
+                0.0075828248420274046
+            ],
+            "target_pos": [
+                0.2557896673679352,
+                -0.18637825548648834,
+                0.12870807945728302
+            ],
+            "target_quat_wxyz": [
+                0.9978442788124084,
+                -0.05752316862344742,
+                -0.01757032424211502,
+                -0.026251770555973053
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000052_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 53,
+    "colors": {
+        "color_0": "colors/000053_color_0.jpg",
+        "color_2": "colors/000053_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11291536688804626,
+                -0.05908222869038582,
+                -0.020325245335698128,
+                0.136320561170578,
+                0.11293933540582657,
+                -0.47849464416503906,
+                0.1904207170009613
+            ],
+            "ee_pos": [
+                0.21842387318611145,
+                0.14476345479488373,
+                0.08416202664375305
+            ],
+            "ee_quat_wxyz": [
+                0.9890441298484802,
+                0.01318841241300106,
+                -0.11896981298923492,
+                0.08639407902956009
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07516506314277649,
+                -0.10787001252174377,
+                -0.08907874673604965,
+                -0.07558450847864151,
+                -0.020924456417560577,
+                0.07096195220947266,
+                -0.005284564103931189
+            ],
+            "ee_pos": [
+                0.263203501701355,
+                -0.18548345565795898,
+                0.12901878356933594
+            ],
+            "ee_quat_wxyz": [
+                0.9964070320129395,
+                -0.06256077438592911,
+                -0.04109780862927437,
+                -0.03962475806474686
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527009963989258,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.128365159034729,
+                -0.07310270518064499,
+                0.1958564668893814,
+                0.5040916204452515,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05984838306903839,
+                -0.0035778323654085398,
+                -0.06970525532960892,
+                0.11290338635444641,
+                -0.05908222869038582,
+                -0.020301276817917824,
+                0.136320561170578,
+                0.11289139837026596,
+                -0.47860971093177795,
+                0.19043605029582977,
+                -0.07340338081121445,
+                -0.10795389860868454,
+                -0.08894691616296768,
+                -0.0776577815413475,
+                -0.020001672208309174,
+                0.07296379655599594,
+                -0.0033977676648646593,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11840620991701273,
+                -0.07635676122333152,
+                -0.023010439403070713,
+                0.13289812819615957,
+                0.1102794405554694,
+                -0.48819170938045553,
+                0.19458549541145606
+            ],
+            "target_pos": [
+                0.21733012795448303,
+                0.14182503521442413,
+                0.08308698236942291
+            ],
+            "target_quat_wxyz": [
+                0.9866736531257629,
+                0.0037894269917160273,
+                -0.1328168660402298,
+                0.09391724318265915
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04334009203199862,
+                -0.1152225136140593,
+                -0.08605989694418528,
+                -0.11413552249981082,
+                -0.0042079846291050065,
+                0.10764552621079719,
+                0.018007972328179703
+            ],
+            "target_pos": [
+                0.25330886244773865,
+                -0.18726183474063873,
+                0.12835492193698883
+            ],
+            "target_quat_wxyz": [
+                0.99806147813797,
+                -0.05626451224088669,
+                -0.01240429375320673,
+                -0.023531977087259293
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000053_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 54,
+    "colors": {
+        "color_0": "colors/000054_color_0.jpg",
+        "color_2": "colors/000054_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11286742985248566,
+                -0.0589623898267746,
+                -0.020145483314990997,
+                0.136320561170578,
+                0.11286742985248566,
+                -0.47870174050331116,
+                0.1905587762594223
+            ],
+            "ee_pos": [
+                0.21842551231384277,
+                0.14483435451984406,
+                0.08418802171945572
+            ],
+            "ee_quat_wxyz": [
+                0.9890166521072388,
+                0.013212141580879688,
+                -0.1190904751420021,
+                0.0865386575460434
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.06357631832361221,
+                -0.10830144584178925,
+                -0.08853945881128311,
+                -0.08963002264499664,
+                -0.01441702339798212,
+                0.08502855896949768,
+                0.0055223312228918076
+            ],
+            "ee_pos": [
+                0.26101580262184143,
+                -0.18549515306949615,
+                0.12796325981616974
+            ],
+            "ee_quat_wxyz": [
+                0.9969622492790222,
+                -0.06002277880907059,
+                -0.035219091922044754,
+                -0.034974418580532074
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527009963989258,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1283518075942993,
+                -0.07310270518064499,
+                0.19582968950271606,
+                0.504040539264679,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06000908464193344,
+                -0.0035702232271432877,
+                -0.06972026079893112,
+                0.11286742985248566,
+                -0.0589623898267746,
+                -0.020145483314990997,
+                0.136320561170578,
+                0.11286742985248566,
+                -0.47870174050331116,
+                0.1905587762594223,
+                -0.06357631832361221,
+                -0.10830144584178925,
+                -0.08853945881128311,
+                -0.08963002264499664,
+                -0.01441702339798212,
+                0.08502855896949768,
+                0.0055223312228918076,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11698175760193769,
+                -0.0748905737711959,
+                -0.02104473175424541,
+                0.13308116142094534,
+                0.10931950174641955,
+                -0.48823999212381625,
+                0.1947913439478707
+            ],
+            "target_pos": [
+                0.21762579679489136,
+                0.1425498127937317,
+                0.08315420895814896
+            ],
+            "target_quat_wxyz": [
+                0.9865347146987915,
+                0.004491797648370266,
+                -0.13324180245399475,
+                0.09474021941423416
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.031239950575306447,
+                -0.11758838789203213,
+                -0.08733614037754422,
+                -0.1300582639958576,
+                0.0013599816292219832,
+                0.12157969442238142,
+                0.02694571001051916
+            ],
+            "target_pos": [
+                0.250835120677948,
+                -0.18831811845302582,
+                0.12792015075683594
+            ],
+            "target_quat_wxyz": [
+                0.9981876611709595,
+                -0.05550258979201317,
+                -0.006868286058306694,
+                -0.022217830643057823
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000054_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 55,
+    "colors": {
+        "color_0": "colors/000055_color_0.jpg",
+        "color_2": "colors/000055_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1128075122833252,
+                -0.05885453149676323,
+                -0.02004960924386978,
+                0.136320561170578,
+                0.11277155578136444,
+                -0.4788551330566406,
+                0.19062013924121857
+            ],
+            "ee_pos": [
+                0.2184324562549591,
+                0.1448797583580017,
+                0.08421254903078079
+            ],
+            "ee_quat_wxyz": [
+                0.988998293876648,
+                0.013215910643339157,
+                -0.11919116228818893,
+                0.08660968393087387
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05153216794133186,
+                -0.10881676524877548,
+                -0.08837167918682098,
+                -0.10601245611906052,
+                -0.009024121798574924,
+                0.0994863286614418,
+                0.015339808538556099
+            ],
+            "ee_pos": [
+                0.25867486000061035,
+                -0.1856205016374588,
+                0.12734699249267578
+            ],
+            "ee_quat_wxyz": [
+                0.9973766207695007,
+                -0.05805043503642082,
+                -0.030133336782455444,
+                -0.031017102301120758
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527143478393555,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1283518075942993,
+                -0.07310270518064499,
+                0.19584308564662933,
+                0.5040746331214905,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06000908464193344,
+                -0.0035626133903861046,
+                -0.06972525268793106,
+                0.1128075122833252,
+                -0.05885453149676323,
+                -0.02004960924386978,
+                0.136320561170578,
+                0.11277155578136444,
+                -0.4788551330566406,
+                0.19062013924121857,
+                -0.05153216794133186,
+                -0.10881676524877548,
+                -0.08837167918682098,
+                -0.10601245611906052,
+                -0.009024121798574924,
+                0.0994863286614418,
+                0.015339808538556099,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11542970634096968,
+                -0.0731754808218022,
+                -0.01910442971283749,
+                0.13375757582996814,
+                0.10851898298322966,
+                -0.4881120322792185,
+                0.19467386145218388
+            ],
+            "target_pos": [
+                0.21800218522548676,
+                0.14327165484428406,
+                0.08313628286123276
+            ],
+            "target_quat_wxyz": [
+                0.9865063428878784,
+                0.0053252256475389,
+                -0.13331831991672516,
+                0.09488468617200851
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.01936408158162276,
+                -0.11890986265759307,
+                -0.08966299517118094,
+                -0.14528964615813172,
+                0.005669327710728917,
+                0.13411242288773179,
+                0.033147310480334646
+            ],
+            "target_pos": [
+                0.24846307933330536,
+                -0.18937848508358002,
+                0.12751181423664093
+            ],
+            "target_quat_wxyz": [
+                0.9982460141181946,
+                -0.05423733964562416,
+                -0.003353656269609928,
+                -0.023494692519307137
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000055_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 56,
+    "colors": {
+        "color_0": "colors/000056_color_0.jpg",
+        "color_2": "colors/000056_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11267568916082382,
+                -0.058770641684532166,
+                -0.019869845360517502,
+                0.136320561170578,
+                0.11267568916082382,
+                -0.4789164960384369,
+                0.19057410955429077
+            ],
+            "ee_pos": [
+                0.21845686435699463,
+                0.14493177831172943,
+                0.08424258977174759
+            ],
+            "ee_quat_wxyz": [
+                0.988983154296875,
+                0.013224543072283268,
+                -0.11927667260169983,
+                0.08666320890188217
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03868507966399193,
+                -0.10996725410223007,
+                -0.08871921896934509,
+                -0.12208329886198044,
+                -0.0041705104522407055,
+                0.11080710589885712,
+                0.023700004443526268
+            ],
+            "ee_pos": [
+                0.2561439871788025,
+                -0.18606211245059967,
+                0.12683992087841034
+            ],
+            "ee_quat_wxyz": [
+                0.9976562261581421,
+                -0.056682754307985306,
+                -0.026138298213481903,
+                -0.028035026043653488
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1283518075942993,
+                -0.07311122864484787,
+                0.19580291211605072,
+                0.5041001439094543,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05996890738606453,
+                -0.003570225089788437,
+                -0.06975030899047852,
+                0.11267568916082382,
+                -0.058770641684532166,
+                -0.019869845360517502,
+                0.136320561170578,
+                0.11267568916082382,
+                -0.4789164960384369,
+                0.19057410955429077,
+                -0.03868507966399193,
+                -0.10996725410223007,
+                -0.08871921896934509,
+                -0.12208329886198044,
+                -0.0041705104522407055,
+                0.11080710589885712,
+                0.023700004443526268,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1138898324963403,
+                -0.071283835339522,
+                -0.01738389302122766,
+                0.13453775700782886,
+                0.10779933811606277,
+                -0.4878143226153535,
+                0.19408853692068917
+            ],
+            "target_pos": [
+                0.21831803023815155,
+                0.14388592541217804,
+                0.0832093209028244
+            ],
+            "target_quat_wxyz": [
+                0.9865121245384216,
+                0.006141964346170425,
+                -0.1334713250398636,
+                0.09455926716327667
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.007526786571784901,
+                -0.11886850266204171,
+                -0.09241762921552521,
+                -0.1608423986126688,
+                0.010372442446329903,
+                0.14702112717726268,
+                0.037711083268672535
+            ],
+            "target_pos": [
+                0.2459462732076645,
+                -0.1900300234556198,
+                0.1272391527891159
+            ],
+            "target_quat_wxyz": [
+                0.9984254240989685,
+                -0.05058368295431137,
+                0.0015197477769106627,
+                -0.02420075610280037
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000056_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 57,
+    "colors": {
+        "color_0": "colors/000057_color_0.jpg",
+        "color_2": "colors/000057_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11261576414108276,
+                -0.05867476761341095,
+                -0.018994996324181557,
+                0.1363445371389389,
+                0.11265172064304352,
+                -0.4790775775909424,
+                0.19068148732185364
+            ],
+            "ee_pos": [
+                0.21845467388629913,
+                0.14516092836856842,
+                0.08425255864858627
+            ],
+            "ee_quat_wxyz": [
+                0.988932728767395,
+                0.013342618010938168,
+                -0.11934760212898254,
+                0.08712171018123627
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.02792324498295784,
+                -0.11069829016923904,
+                -0.08945025503635406,
+                -0.13748303055763245,
+                -0.0005872270558029413,
+                0.12518051266670227,
+                0.0303804911673069
+            ],
+            "ee_pos": [
+                0.25398993492126465,
+                -0.18650126457214355,
+                0.12642566859722137
+            ],
+            "ee_quat_wxyz": [
+                0.9978891015052795,
+                -0.055555205792188644,
+                -0.021335575729608536,
+                -0.025994379073381424
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525134801864624,
+                -0.12745164334774017,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.12833833694458,
+                -0.07309418171644211,
+                0.1958162933588028,
+                0.504125714302063,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060076043009757996,
+                -0.003532162168994546,
+                -0.0697752833366394,
+                0.11261576414108276,
+                -0.05867476761341095,
+                -0.018994996324181557,
+                0.1363445371389389,
+                0.11265172064304352,
+                -0.4790775775909424,
+                0.19068148732185364,
+                -0.02792324498295784,
+                -0.11069829016923904,
+                -0.08945025503635406,
+                -0.13748303055763245,
+                -0.0005872270558029413,
+                0.12518051266670227,
+                0.0303804911673069,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11227841193549801,
+                -0.06935896426208371,
+                -0.016122659564913804,
+                0.13513819313607028,
+                0.1074106384867882,
+                -0.48742732389357013,
+                0.19298234122817792
+            ],
+            "target_pos": [
+                0.21869982779026031,
+                0.14421916007995605,
+                0.0834617018699646
+            ],
+            "target_quat_wxyz": [
+                0.9865472316741943,
+                0.0071500795893371105,
+                -0.1339385062456131,
+                0.09345551580190659
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.005103890437198815,
+                -0.11860702227039929,
+                -0.09420311250650555,
+                -0.17725331648447915,
+                0.013785758470993078,
+                0.15870535634265662,
+                0.04185455838029392
+            ],
+            "target_pos": [
+                0.24304945766925812,
+                -0.19031178951263428,
+                0.1271238923072815
+            ],
+            "target_quat_wxyz": [
+                0.9984461665153503,
+                -0.05047670751810074,
+                0.004465628415346146,
+                -0.023182805627584457
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000057_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 58,
+    "colors": {
+        "color_0": "colors/000058_color_0.jpg",
+        "color_2": "colors/000058_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11248394101858139,
+                -0.05854294076561928,
+                -0.018323879688978195,
+                0.13635651767253876,
+                0.11259179562330246,
+                -0.47923097014427185,
+                0.1904667317867279
+            ],
+            "ee_pos": [
+                0.21847273409366608,
+                0.14532914757728577,
+                0.08428197354078293
+            ],
+            "ee_quat_wxyz": [
+                0.9889006614685059,
+                0.013453206047415733,
+                -0.11945885419845581,
+                0.08731581270694733
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.017964353784918785,
+                -0.11138138920068741,
+                -0.09068462997674942,
+                -0.1509772688150406,
+                0.0033316146582365036,
+                0.13713021576404572,
+                0.035151172429323196
+            ],
+            "ee_pos": [
+                0.2519756257534027,
+                -0.1870945692062378,
+                0.1260383129119873
+            ],
+            "ee_quat_wxyz": [
+                0.9980678558349609,
+                -0.05420307442545891,
+                -0.017265314236283302,
+                -0.024990521371364594
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.05229914188385,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282312870025635,
+                -0.07311122864484787,
+                0.1958162933588028,
+                0.5041598081588745,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060089435428380966,
+                -0.0033875377848744392,
+                -0.06993025541305542,
+                0.11248394101858139,
+                -0.05854294076561928,
+                -0.018275942653417587,
+                0.1363445371389389,
+                0.11256782710552216,
+                -0.4792693257331848,
+                0.19049741327762604,
+                -0.017137441784143448,
+                -0.11144131422042847,
+                -0.09072058647871017,
+                -0.152271568775177,
+                0.0036791572347283363,
+                0.13801993429660797,
+                0.035611364990472794,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11114209441956123,
+                -0.06749740754551091,
+                -0.015513214745965835,
+                0.13473992356894032,
+                0.10720908583354538,
+                -0.48696635925096854,
+                0.19122484011347196
+            ],
+            "target_pos": [
+                0.21882449090480804,
+                0.144403874874115,
+                0.08395218104124069
+            ],
+            "target_quat_wxyz": [
+                0.9865940809249878,
+                0.008041287772357464,
+                -0.1346498429775238,
+                0.09185215830802917
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.01854292701764849,
+                -0.11846984381884133,
+                -0.09455757170764992,
+                -0.19417875745700586,
+                0.015211657274096879,
+                0.16839712703744925,
+                0.045029402862174724
+            ],
+            "target_pos": [
+                0.24005942046642303,
+                -0.19038724899291992,
+                0.1270848512649536
+            ],
+            "target_quat_wxyz": [
+                0.9983559250831604,
+                -0.0521254800260067,
+                0.006495809182524681,
+                -0.022939221933484077
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000058_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 59,
+    "colors": {
+        "color_0": "colors/000059_color_0.jpg",
+        "color_2": "colors/000059_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11207647621631622,
+                -0.0583871454000473,
+                -0.01764077879488468,
+                0.13635651767253876,
+                0.11256782710552216,
+                -0.4793843626976013,
+                0.190397709608078
+            ],
+            "ee_pos": [
+                0.21854785084724426,
+                0.14549368619918823,
+                0.08437211066484451
+            ],
+            "ee_quat_wxyz": [
+                0.9888485670089722,
+                0.013568331487476826,
+                -0.11971037089824677,
+                0.08754333853721619
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.005033374764025211,
+                -0.11205250769853592,
+                -0.09161940217018127,
+                -0.16756343841552734,
+                0.005848302040249109,
+                0.14833594858646393,
+                0.03910117223858833
+            ],
+            "ee_pos": [
+                0.2493559569120407,
+                -0.18776468932628632,
+                0.12574012577533722
+            ],
+            "ee_quat_wxyz": [
+                0.9981629252433777,
+                -0.053685735911130905,
+                -0.01364120002835989,
+                -0.024546733126044273
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522054433822632,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282044649124146,
+                -0.07311975210905075,
+                0.19578951597213745,
+                0.5042024254798889,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.06004926189780235,
+                -0.0034256200306117535,
+                -0.07020577788352966,
+                0.11207647621631622,
+                -0.058399129658937454,
+                -0.017604826018214226,
+                0.1363445371389389,
+                0.11259179562330246,
+                -0.4794533848762512,
+                0.19041304290294647,
+                -0.003595267655327916,
+                -0.11208845674991608,
+                -0.09163138270378113,
+                -0.16895361244678497,
+                0.00595615990459919,
+                0.1491106152534485,
+                0.0393235981464386,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11007923743180482,
+                -0.06571499668677035,
+                -0.01513899906418291,
+                0.13380142871474748,
+                0.10684074013291142,
+                -0.4865055489785667,
+                0.1891058659896749
+            ],
+            "target_pos": [
+                0.21910032629966736,
+                0.14470012485980988,
+                0.08446129411458969
+            ],
+            "target_quat_wxyz": [
+                0.9866020083427429,
+                0.008552650921046734,
+                -0.13546879589557648,
+                0.09050706773996353
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.032017749942060955,
+                -0.11779799901877924,
+                -0.09407234559667714,
+                -0.21139387615737726,
+                0.01629548627350892,
+                0.1776384749993492,
+                0.04761290441702502
+            ],
+            "target_pos": [
+                0.23737773299217224,
+                -0.19019673764705658,
+                0.12709183990955353
+            ],
+            "target_quat_wxyz": [
+                0.9983950853347778,
+                -0.051063261926174164,
+                0.009045870043337345,
+                -0.022758956998586655
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000059_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 60,
+    "colors": {
+        "color_0": "colors/000060_color_0.jpg",
+        "color_2": "colors/000060_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11177686601877213,
+                -0.05831523984670639,
+                -0.016454340890049934,
+                0.13633254170417786,
+                0.11256782710552216,
+                -0.4798675775527954,
+                0.19029033184051514
+            ],
+            "ee_pos": [
+                0.21858836710453033,
+                0.14576642215251923,
+                0.08446909487247467
+            ],
+            "ee_quat_wxyz": [
+                0.9887620210647583,
+                0.0137025723233819,
+                -0.12006747722625732,
+                0.08800964057445526
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.009671269915997982,
+                -0.11248394101858139,
+                -0.09164337068796158,
+                -0.18543191254138947,
+                0.007466172333806753,
+                0.15836051106452942,
+                0.041962046176195145
+            ],
+            "ee_pos": [
+                0.24639347195625305,
+                -0.18828897178173065,
+                0.12543141841888428
+            ],
+            "ee_quat_wxyz": [
+                0.9982120990753174,
+                -0.05358618497848511,
+                -0.010356169193983078,
+                -0.02437051199376583
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0521652698516846,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282178163528442,
+                -0.07311122864484787,
+                0.19578951597213745,
+                0.5042365193367004,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.05994212627410889,
+                -0.0034180108923465014,
+                -0.07022079080343246,
+                0.11177686601877213,
+                -0.05831523984670639,
+                -0.016454340890049934,
+                0.13633254170417786,
+                0.11256782710552216,
+                -0.4798675775527954,
+                0.19029033184051514,
+                0.009671269915997982,
+                -0.11248394101858139,
+                -0.09164337068796158,
+                -0.18543191254138947,
+                0.007466172333806753,
+                0.15836051106452942,
+                0.041962046176195145,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10888794727879401,
+                -0.06408545157126781,
+                -0.014663202781400719,
+                0.13281943054482367,
+                0.10626472279386015,
+                -0.48600143476980984,
+                0.18683404625014366
+            ],
+            "target_pos": [
+                0.21944893896579742,
+                0.14503858983516693,
+                0.08488095551729202
+            ],
+            "target_quat_wxyz": [
+                0.9866154789924622,
+                0.008933793753385544,
+                -0.13606593012809753,
+                0.0894213393330574
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.04537506088006393,
+                -0.11676297512232192,
+                -0.09285504742331788,
+                -0.22844348112261367,
+                0.017404355702737587,
+                0.18609419041081712,
+                0.049922093689214256
+            ],
+            "target_pos": [
+                0.23475654423236847,
+                -0.18981283903121948,
+                0.12710024416446686
+            ],
+            "target_quat_wxyz": [
+                0.9984629154205322,
+                -0.04972340539097786,
+                0.011168346740305424,
+                -0.021786628291010857
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000060_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 61,
+    "colors": {
+        "color_0": "colors/000061_color_0.jpg",
+        "color_2": "colors/000061_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11147726327180862,
+                -0.05824333429336548,
+                -0.015303855761885643,
+                0.1363445371389389,
+                0.11241203546524048,
+                -0.47989824414253235,
+                0.1900065392255783
+            ],
+            "ee_pos": [
+                0.21863967180252075,
+                0.14603030681610107,
+                0.08451567590236664
+            ],
+            "ee_quat_wxyz": [
+                0.9887121319770813,
+                0.01379459723830223,
+                -0.12017685174942017,
+                0.08840584009885788
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.022650185972452164,
+                -0.11245997250080109,
+                -0.09152352809906006,
+                -0.2015986442565918,
+                0.008772453293204308,
+                0.1681549847126007,
+                0.04479224234819412
+            ],
+            "ee_pos": [
+                0.2437698394060135,
+                -0.18861913681030273,
+                0.12516899406909943
+            ],
+            "ee_quat_wxyz": [
+                0.9982622861862183,
+                -0.05333814024925232,
+                -0.007161646615713835,
+                -0.024004271253943443
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0521384477615356,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282044649124146,
+                -0.07309418171644211,
+                0.1958162933588028,
+                0.5042109489440918,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06004926189780235,
+                -0.0033494988456368446,
+                -0.07025571167469025,
+                0.1113574206829071,
+                -0.05823135003447533,
+                -0.015124091878533363,
+                0.136320561170578,
+                0.11237607896327972,
+                -0.4798905849456787,
+                0.18997585773468018,
+                0.024411866441369057,
+                -0.11245997250080109,
+                -0.09149955958127975,
+                -0.20361198484897614,
+                0.008832373656332493,
+                0.16927479207515717,
+                0.04520641639828682,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10785790615576016,
+                -0.06266148164462865,
+                -0.014061340462993711,
+                0.1317177274871343,
+                0.10565997296687392,
+                -0.48534808248836503,
+                0.18470510458096323
+            ],
+            "target_pos": [
+                0.21964606642723083,
+                0.14535242319107056,
+                0.08525659888982773
+            ],
+            "target_quat_wxyz": [
+                0.9866324663162231,
+                0.00941269937902689,
+                -0.13641518354415894,
+                0.08864900469779968
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.058541477609880516,
+                -0.11568184548595736,
+                -0.09102357323094654,
+                -0.24496454832468784,
+                0.018191139394520887,
+                0.19416087531935391,
+                0.052227551617009565
+            ],
+            "target_pos": [
+                0.23212382197380066,
+                -0.1893652081489563,
+                0.1269865185022354
+            ],
+            "target_quat_wxyz": [
+                0.9984613060951233,
+                -0.049746073782444,
+                0.013616061769425869,
+                -0.020371146500110626
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000061_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 62,
+    "colors": {
+        "color_0": "colors/000062_color_0.jpg",
+        "color_2": "colors/000062_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11081813275814056,
+                -0.05812349170446396,
+                -0.014632739126682281,
+                0.136320561170578,
+                0.11241203546524048,
+                -0.47992125153541565,
+                0.18909382820129395
+            ],
+            "ee_pos": [
+                0.21877895295619965,
+                0.1461286097764969,
+                0.08465243130922318
+            ],
+            "ee_quat_wxyz": [
+                0.9886919260025024,
+                0.013943549245595932,
+                -0.1204904243350029,
+                0.08818094432353973
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.03773832693696022,
+                -0.11242401599884033,
+                -0.09135574847459793,
+                -0.21943116188049316,
+                0.009587380103766918,
+                0.17623139917850494,
+                0.047515057027339935
+            ],
+            "ee_pos": [
+                0.2407221794128418,
+                -0.1890086680650711,
+                0.1249978095293045
+            ],
+            "ee_quat_wxyz": [
+                0.9982742667198181,
+                -0.05346887931227684,
+                -0.004611169453710318,
+                -0.023838849738240242
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0521384477615356,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.19578951597213745,
+                0.5042620897293091,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06000908464193344,
+                -0.003334279637783766,
+                -0.07034583389759064,
+                0.11081813275814056,
+                -0.05812349170446396,
+                -0.014632739126682281,
+                0.136320561170578,
+                0.11241203546524048,
+                -0.47992125153541565,
+                0.18909382820129395,
+                0.03773832693696022,
+                -0.11242401599884033,
+                -0.09135574847459793,
+                -0.21943116188049316,
+                0.009587380103766918,
+                0.17623139917850494,
+                0.047515057027339935,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1070480458852501,
+                -0.061275242447912624,
+                -0.0136204873514379,
+                0.13073905812272982,
+                0.10530196018924583,
+                -0.48475119218662555,
+                0.18246758224430587
+            ],
+            "target_pos": [
+                0.21975700557231903,
+                0.14549878239631653,
+                0.08553570508956909
+            ],
+            "target_quat_wxyz": [
+                0.9867129325866699,
+                0.010265754535794258,
+                -0.13675975799560547,
+                0.08711443841457367
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0715058089545236,
+                -0.11481926008038981,
+                -0.08874840315305038,
+                -0.26041887846576406,
+                0.01867222764202996,
+                0.2013777906378465,
+                0.05493175921684994
+            ],
+            "target_pos": [
+                0.2296251505613327,
+                -0.18893690407276154,
+                0.12666469812393188
+            ],
+            "target_quat_wxyz": [
+                0.9984461069107056,
+                -0.050097934901714325,
+                0.01587609387934208,
+                -0.01853267103433609
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000062_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 63,
+    "colors": {
+        "color_0": "colors/000063_color_0.jpg",
+        "color_2": "colors/000063_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11035074293613434,
+                -0.05805158615112305,
+                -0.014009559527039528,
+                0.13626064360141754,
+                0.11219631880521774,
+                -0.4799979627132416,
+                0.18825779855251312
+            ],
+            "ee_pos": [
+                0.21887671947479248,
+                0.14623190462589264,
+                0.08476119488477707
+            ],
+            "ee_quat_wxyz": [
+                0.9886727333068848,
+                0.01396630983799696,
+                -0.1207486167550087,
+                0.08803946524858475
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.050765179097652435,
+                -0.11228020489215851,
+                -0.09074455499649048,
+                -0.2356458157300949,
+                0.010162622667849064,
+                0.18387828767299652,
+                0.05000777542591095
+            ],
+            "ee_pos": [
+                0.23808477818965912,
+                -0.1891765296459198,
+                0.12499018013477325
+            ],
+            "ee_quat_wxyz": [
+                0.998286247253418,
+                -0.05358586087822914,
+                -0.0024574529379606247,
+                -0.023390846326947212
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520447492599487,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.1957627236843109,
+                0.5042279958724976,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060076043009757996,
+                -0.0033114422112703323,
+                -0.07038085162639618,
+                0.11035074293613434,
+                -0.05805158615112305,
+                -0.0138417799025774,
+                0.1362246870994568,
+                0.11217235028743744,
+                -0.4800056219100952,
+                0.1880660504102707,
+                0.05271860584616661,
+                -0.11231616139411926,
+                -0.0905887559056282,
+                -0.2379947304725647,
+                0.010246512480080128,
+                0.18441517651081085,
+                0.050490979105234146,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10573146485840285,
+                -0.06036493701114793,
+                -0.013489628733129068,
+                0.13084549274390098,
+                0.10552328704829901,
+                -0.4842446635287391,
+                0.1807421298792299
+            ],
+            "target_pos": [
+                0.22025750577449799,
+                0.14522013068199158,
+                0.08556348085403442
+            ],
+            "target_quat_wxyz": [
+                0.9867814183235168,
+                0.010847649537026882,
+                -0.1369406133890152,
+                0.08597671985626221
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08293130956606151,
+                -0.11455198929580318,
+                -0.0868075898286168,
+                -0.2729603301157425,
+                0.01901451286535141,
+                0.2077499230433956,
+                0.05791860384108699
+            ],
+            "target_pos": [
+                0.22792188823223114,
+                -0.18895258009433746,
+                0.12599438428878784
+            ],
+            "target_quat_wxyz": [
+                0.9984167814254761,
+                -0.05023122951388359,
+                0.018652986735105515,
+                -0.01711198501288891
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000063_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 64,
+    "colors": {
+        "color_0": "colors/000064_color_0.jpg",
+        "color_2": "colors/000064_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10991931706666946,
+                -0.05799166485667229,
+                -0.013745906762778759,
+                0.13623666763305664,
+                0.11217235028743744,
+                -0.4799979627132416,
+                0.18635566532611847
+            ],
+            "ee_pos": [
+                0.21898184716701508,
+                0.14618772268295288,
+                0.08485303074121475
+            ],
+            "ee_quat_wxyz": [
+                0.988723874092102,
+                0.014103150926530361,
+                -0.12094536423683167,
+                0.08716921508312225
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06340853869915009,
+                -0.11219631880521774,
+                -0.09013336151838303,
+                -0.2501227557659149,
+                0.010630007833242416,
+                0.19118770956993103,
+                0.05335185304284096
+            ],
+            "ee_pos": [
+                0.23554308712482452,
+                -0.1893216371536255,
+                0.12472878396511078
+            ],
+            "ee_quat_wxyz": [
+                0.9983017444610596,
+                -0.05372430384159088,
+                0.0002327032561879605,
+                -0.022523418068885803
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519644021987915,
+                -0.12746016681194305,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1282044649124146,
+                -0.07311122864484787,
+                0.19573594629764557,
+                0.5042194724082947,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06010282784700394,
+                -0.0032581640407443047,
+                -0.070485919713974,
+                0.10991931706666946,
+                -0.05799166485667229,
+                -0.013745906762778759,
+                0.13623666763305664,
+                0.11217235028743744,
+                -0.4799979627132416,
+                0.18635566532611847,
+                0.06340853869915009,
+                -0.11219631880521774,
+                -0.09013336151838303,
+                -0.2501227557659149,
+                0.010630007833242416,
+                0.19118770956993103,
+                0.05335185304284096,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10533279410286986,
+                -0.059717790633520576,
+                -0.01354432574822589,
+                0.1301379440978535,
+                0.10557463562823302,
+                -0.4834798220585583,
+                0.17870284443274298
+            ],
+            "target_pos": [
+                0.22007454931735992,
+                0.14526736736297607,
+                0.08581893146038055
+            ],
+            "target_quat_wxyz": [
+                0.9869216680526733,
+                0.0109939593821764,
+                -0.13666431605815887,
+                0.08477983623743057
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0938100302918542,
+                -0.11383185998540327,
+                -0.08471144119429486,
+                -0.2845706834702596,
+                0.019027661960951715,
+                0.2134224127796561,
+                0.06059123389245394
+            ],
+            "target_pos": [
+                0.22585000097751617,
+                -0.18837833404541016,
+                0.1256496161222458
+            ],
+            "target_quat_wxyz": [
+                0.9984186887741089,
+                -0.04977920651435852,
+                0.02063736505806446,
+                -0.016009673476219177
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000064_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 65,
+    "colors": {
+        "color_0": "colors/000065_color_0.jpg",
+        "color_2": "colors/000065_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10900851339101791,
+                -0.05790777504444122,
+                -0.013733922503888607,
+                0.1362246870994568,
+                0.11217235028743744,
+                -0.4799826145172119,
+                0.18367886543273926
+            ],
+            "ee_pos": [
+                0.21919776499271393,
+                0.1460190713405609,
+                0.08504491299390793
+            ],
+            "ee_quat_wxyz": [
+                0.9887969493865967,
+                0.014254722744226456,
+                -0.12136136740446091,
+                0.08572499454021454
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0751890316605568,
+                -0.11214838176965714,
+                -0.08954612910747528,
+                -0.26274216175079346,
+                0.010953581891953945,
+                0.1963879019021988,
+                0.05595962330698967
+            ],
+            "ee_pos": [
+                0.23318491876125336,
+                -0.18948209285736084,
+                0.12446780502796173
+            ],
+            "ee_quat_wxyz": [
+                0.9982998967170715,
+                -0.05394429340958595,
+                0.0023614258971065283,
+                -0.02194957621395588
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0517902374267578,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281776428222656,
+                -0.07311122864484787,
+                0.19573594629764557,
+                0.5042535662651062,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.060076043009757996,
+                -0.0034561059437692165,
+                -0.07076675444841385,
+                0.108936607837677,
+                -0.05790777504444122,
+                -0.013721938244998455,
+                0.13616476953029633,
+                0.1122322678565979,
+                -0.4799979627132416,
+                0.1832723617553711,
+                0.0767110288143158,
+                -0.11214838176965714,
+                -0.089342400431633,
+                -0.2643360495567322,
+                0.010953581891953945,
+                0.1969171166419983,
+                0.056228067725896835,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10447254999766495,
+                -0.05936571803053783,
+                -0.013678179641272043,
+                0.1305181552406401,
+                0.10603115996541568,
+                -0.4829955683537249,
+                0.17680112429377495
+            ],
+            "target_pos": [
+                0.22045905888080597,
+                0.14498379826545715,
+                0.08568386733531952
+            ],
+            "target_quat_wxyz": [
+                0.9870250225067139,
+                0.01163056306540966,
+                -0.136654794216156,
+                0.08349703997373581
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1035493931220925,
+                -0.11374173087947083,
+                -0.082099322945858,
+                -0.2941011618368623,
+                0.01865851837512049,
+                0.2182472623241083,
+                0.0638705128133016
+            ],
+            "target_pos": [
+                0.22428883612155914,
+                -0.18782784044742584,
+                0.12495844066143036
+            ],
+            "target_quat_wxyz": [
+                0.9983536601066589,
+                -0.050827883183956146,
+                0.023239152505993843,
+                -0.0128990663215518
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000065_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 66,
+    "colors": {
+        "color_0": "colors/000066_color_0.jpg",
+        "color_2": "colors/000066_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10794191807508469,
+                -0.057859838008880615,
+                -0.013733922503888607,
+                0.13614079356193542,
+                0.1122322678565979,
+                -0.47999027371406555,
+                0.1813395470380783
+            ],
+            "ee_pos": [
+                0.2194443792104721,
+                0.14584635198116302,
+                0.08528870344161987
+            ],
+            "ee_quat_wxyz": [
+                0.9888410568237305,
+                0.014383918605744839,
+                -0.12190254777669907,
+                0.08441716432571411
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08613062649965286,
+                -0.11211242526769638,
+                -0.08832374215126038,
+                -0.2744387686252594,
+                0.010953581891953945,
+                0.2026848942041397,
+                0.057961467653512955
+            ],
+            "ee_pos": [
+                0.23100659251213074,
+                -0.18950049579143524,
+                0.1240856796503067
+            ],
+            "ee_quat_wxyz": [
+                0.9982880353927612,
+                -0.05421139672398567,
+                0.005100301466882229,
+                -0.02135571278631687
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0516295433044434,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281776428222656,
+                -0.07311975210905075,
+                0.19565559923648834,
+                0.5042620897293091,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.06014300510287285,
+                -0.003440879052504897,
+                -0.07080679386854172,
+                0.10794191807508469,
+                -0.057859838008880615,
+                -0.013733922503888607,
+                0.13614079356193542,
+                0.1122322678565979,
+                -0.47999027371406555,
+                0.1813395470380783,
+                0.08613062649965286,
+                -0.11211242526769638,
+                -0.08832374215126038,
+                -0.2744387686252594,
+                0.010953581891953945,
+                0.2026848942041397,
+                0.057961467653512955,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10341137527819763,
+                -0.05925640392240252,
+                -0.013892390211371014,
+                0.1316688943663571,
+                0.106549346774384,
+                -0.48261328505209755,
+                0.1749382261532011
+            ],
+            "target_pos": [
+                0.22075887024402618,
+                0.14466550946235657,
+                0.08544354140758514
+            ],
+            "target_quat_wxyz": [
+                0.9871888160705566,
+                0.01195537205785513,
+                -0.13627249002456665,
+                0.08212855458259583
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11228890884479395,
+                -0.11472876100005398,
+                -0.0787152684811266,
+                -0.3021810568262199,
+                0.01724397812106737,
+                0.22158016449125253,
+                0.06762839370165478
+            ],
+            "target_pos": [
+                0.22289349138736725,
+                -0.18725848197937012,
+                0.12453071773052216
+            ],
+            "target_quat_wxyz": [
+                0.9982184767723083,
+                -0.05371454730629921,
+                0.02427300252020359,
+                -0.00924466922879219
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000066_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 67,
+    "colors": {
+        "color_0": "colors/000067_color_0.jpg",
+        "color_2": "colors/000067_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10695920884609222,
+                -0.05787182226777077,
+                -0.013757891021668911,
+                0.13615278899669647,
+                0.11228020489215851,
+                -0.47999027371406555,
+                0.18040381371974945
+            ],
+            "ee_pos": [
+                0.21965983510017395,
+                0.14573051035404205,
+                0.08549368381500244
+            ],
+            "ee_quat_wxyz": [
+                0.9888359904289246,
+                0.014398833736777306,
+                -0.12236117571592331,
+                0.08380825817584991
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09466339647769928,
+                -0.11214838176965714,
+                -0.08620253205299377,
+                -0.2822524607181549,
+                0.010677944868803024,
+                0.20615169405937195,
+                0.060699623078107834
+            ],
+            "ee_pos": [
+                0.2293567955493927,
+                -0.18920451402664185,
+                0.12359967082738876
+            ],
+            "ee_quat_wxyz": [
+                0.9982905387878418,
+                -0.0545293353497982,
+                0.0072440700605511665,
+                -0.01975117437541485
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0514153242111206,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2622595727443695,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281776428222656,
+                -0.07311122864484787,
+                0.19564220309257507,
+                0.5042450428009033,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06010282784700394,
+                -0.003326707286760211,
+                -0.07093177735805511,
+                0.10686333477497101,
+                -0.05784785374999046,
+                -0.013745906762778759,
+                0.13616476953029633,
+                0.11228020489215851,
+                -0.47999027371406555,
+                0.18035779893398285,
+                0.09534649550914764,
+                -0.11217235028743744,
+                -0.08603475242853165,
+                -0.2830314338207245,
+                0.010737866163253784,
+                0.2062360644340515,
+                0.06099874898791313,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10231845144593177,
+                -0.05915501341285023,
+                -0.014234047754701488,
+                0.13312165238319446,
+                0.10703605530655064,
+                -0.4821963168235792,
+                0.17330531389441073
+            ],
+            "target_pos": [
+                0.22101904451847076,
+                0.1443966031074524,
+                0.08525077998638153
+            ],
+            "target_quat_wxyz": [
+                0.987343966960907,
+                0.012262183241546154,
+                -0.13581153750419617,
+                0.0809735432267189
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11980126302811861,
+                -0.11572397344392746,
+                -0.07557579167607187,
+                -0.30929575446999785,
+                0.015970373842794074,
+                0.22403421486663055,
+                0.07112794388055735
+            ],
+            "target_pos": [
+                0.2217680960893631,
+                -0.18686924874782562,
+                0.12441174685955048
+            ],
+            "target_quat_wxyz": [
+                0.9981809258460999,
+                -0.05434531345963478,
+                0.025084881111979485,
+                -0.007223064079880714
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000067_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 68,
+    "colors": {
+        "color_0": "colors/000068_color_0.jpg",
+        "color_2": "colors/000068_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10558102279901505,
+                -0.05783586949110031,
+                -0.013853764161467552,
+                0.13616476953029633,
+                0.11234012991189957,
+                -0.47999027371406555,
+                0.17959080636501312
+            ],
+            "ee_pos": [
+                0.21995779871940613,
+                0.1455874741077423,
+                0.0857834741473198
+            ],
+            "ee_quat_wxyz": [
+                0.9888091087341309,
+                0.014404911547899246,
+                -0.12301352620124817,
+                0.08316658437252045
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10299243032932281,
+                -0.11217235028743744,
+                -0.08372179418802261,
+                -0.2913844585418701,
+                0.010677944868803024,
+                0.2095264494419098,
+                0.06490273028612137
+            ],
+            "ee_pos": [
+                0.22773584723472595,
+                -0.1886841207742691,
+                0.12346622347831726
+            ],
+            "ee_quat_wxyz": [
+                0.9983170628547668,
+                -0.05472484976053238,
+                0.0086291478946805,
+                -0.01714039221405983
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512278079986572,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1282044649124146,
+                -0.07310270518064499,
+                0.19565559923648834,
+                0.504270613193512,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.060089435428380966,
+                -0.0031820693984627724,
+                -0.0710768848657608,
+                0.10535332560539246,
+                -0.05784785374999046,
+                -0.013793842867016792,
+                0.13616476953029633,
+                0.11234012991189957,
+                -0.4799979627132416,
+                0.17949877679347992,
+                0.10407101362943649,
+                -0.1122082993388176,
+                -0.08344615995883942,
+                -0.29305025935173035,
+                0.010689929127693176,
+                0.21007868647575378,
+                0.06543195247650146,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1027270559716224,
+                -0.05905861850949261,
+                -0.014877423313437313,
+                0.1323994420542407,
+                0.10732075611333436,
+                -0.48123522795015095,
+                0.1716564240364874
+            ],
+            "target_pos": [
+                0.22043092548847198,
+                0.14434313774108887,
+                0.08564206957817078
+            ],
+            "target_quat_wxyz": [
+                0.9875008463859558,
+                0.0123814158141613,
+                -0.1352151781320572,
+                0.08003506809473038
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12790132979480856,
+                -0.11659227940492622,
+                -0.07261715863917217,
+                -0.3190425463717932,
+                0.01576220021560274,
+                0.22714598423506183,
+                0.07530565834664348
+            ],
+            "target_pos": [
+                0.21971459686756134,
+                -0.1861581653356552,
+                0.1252807080745697
+            ],
+            "target_quat_wxyz": [
+                0.9982126951217651,
+                -0.053886815905570984,
+                0.025553224608302116,
+                -0.0038237127009779215
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000068_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 69,
+    "colors": {
+        "color_0": "colors/000069_color_0.jpg",
+        "color_2": "colors/000069_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10403505712747574,
+                -0.05783586949110031,
+                -0.013973606750369072,
+                0.13616476953029633,
+                0.11235211044549942,
+                -0.4799826145172119,
+                0.17858605086803436
+            ],
+            "ee_pos": [
+                0.220292866230011,
+                0.14541475474834442,
+                0.0861111432313919
+            ],
+            "ee_quat_wxyz": [
+                0.988781750202179,
+                0.014371396042406559,
+                -0.12374460697174072,
+                0.08240978419780731
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11170496046543121,
+                -0.1122322678565979,
+                -0.08140884339809418,
+                -0.3011755645275116,
+                0.010689929127693176,
+                0.2131236344575882,
+                0.0685305967926979
+            ],
+            "ee_pos": [
+                0.22602714598178864,
+                -0.18824055790901184,
+                0.1234026700258255
+            ],
+            "ee_quat_wxyz": [
+                0.9983280897140503,
+                -0.05494549125432968,
+                0.009963947348296642,
+                -0.014923212118446827
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512009859085083,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1282044649124146,
+                -0.07310270518064499,
+                0.19564220309257507,
+                0.5042791366577148,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06004926189780235,
+                -0.003144014161080122,
+                -0.07129233330488205,
+                0.10403505712747574,
+                -0.05783586949110031,
+                -0.013973606750369072,
+                0.13616476953029633,
+                0.11235211044549942,
+                -0.4799826145172119,
+                0.17858605086803436,
+                0.11170496046543121,
+                -0.1122322678565979,
+                -0.08140884339809418,
+                -0.3011755645275116,
+                0.010689929127693176,
+                0.2131236344575882,
+                0.0685305967926979,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10307160552569705,
+                -0.05905249278395838,
+                -0.015486057931302902,
+                0.13196124950861013,
+                0.10734569680113243,
+                -0.48038077331959017,
+                0.1702015167716367
+            ],
+            "target_pos": [
+                0.22053571045398712,
+                0.14412948489189148,
+                0.08547315001487732
+            ],
+            "target_quat_wxyz": [
+                0.9876343011856079,
+                0.012251087464392185,
+                -0.13474060595035553,
+                0.07920461148023605
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.13527352028157902,
+                -0.11802798202350939,
+                -0.07004490969662193,
+                -0.3279634274387076,
+                0.015397205513072606,
+                0.22840357202001244,
+                0.07982642622166154
+            ],
+            "target_pos": [
+                0.21855826675891876,
+                -0.18591327965259552,
+                0.12554821372032166
+            ],
+            "target_quat_wxyz": [
+                0.9981390833854675,
+                -0.055953167378902435,
+                0.02423732914030552,
+                -0.0004473582375794649
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000069_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 70,
+    "colors": {
+        "color_0": "colors/000070_color_0.jpg",
+        "color_2": "colors/000070_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10294449329376221,
+                -0.057859838008880615,
+                -0.013949638232588768,
+                0.13614079356193542,
+                0.11228020489215851,
+                -0.4799749553203583,
+                0.17639246582984924
+            ],
+            "ee_pos": [
+                0.220540389418602,
+                0.1452452689409256,
+                0.08634524047374725
+            ],
+            "ee_quat_wxyz": [
+                0.9888166189193726,
+                0.01440293900668621,
+                -0.12425312399864197,
+                0.08121202886104584
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11949470639228821,
+                -0.11231616139411926,
+                -0.07911985367536545,
+                -0.3084140419960022,
+                0.01065397635102272,
+                0.21562401950359344,
+                0.0730711817741394
+            ],
+            "ee_pos": [
+                0.2245272994041443,
+                -0.18776503205299377,
+                0.12306234985589981
+            ],
+            "ee_quat_wxyz": [
+                0.9983381032943726,
+                -0.05511122941970825,
+                0.011599109508097172,
+                -0.012216036207973957
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051120638847351,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1281776428222656,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042791366577148,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060089435428380966,
+                -0.0030754986219108105,
+                -0.07131729274988174,
+                0.1028725877404213,
+                -0.057859838008880615,
+                -0.013937653973698616,
+                0.13614079356193542,
+                0.11230417340993881,
+                -0.4799826145172119,
+                0.17584790289402008,
+                0.12057328969240189,
+                -0.11232814192771912,
+                -0.07877231389284134,
+                -0.3095645308494568,
+                0.010665960609912872,
+                0.2160535305738449,
+                0.07398390024900436,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10341004051587727,
+                -0.05927228967474535,
+                -0.015961047553446683,
+                0.13175799803159782,
+                0.10739617298513535,
+                -0.4795777992362752,
+                0.16878934447597532
+            ],
+            "target_pos": [
+                0.2205532342195511,
+                0.14387810230255127,
+                0.08528348803520203
+            ],
+            "target_quat_wxyz": [
+                0.9877855181694031,
+                0.012224595062434673,
+                -0.13407817482948303,
+                0.07844345271587372
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14169259255697805,
+                -0.11940514962280283,
+                -0.06817108297603537,
+                -0.336092705679207,
+                0.014884116438573992,
+                0.2294457644857196,
+                0.08400513330145637
+            ],
+            "target_pos": [
+                0.2175724059343338,
+                -0.18577982485294342,
+                0.12587949633598328
+            ],
+            "target_quat_wxyz": [
+                0.9980630874633789,
+                -0.0573420450091362,
+                0.024081746116280556,
+                0.0014294356806203723
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000070_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 71,
+    "colors": {
+        "color_0": "colors/000071_color_0.jpg",
+        "color_2": "colors/000071_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10269282758235931,
+                -0.05784785374999046,
+                -0.014009559527039528,
+                0.13616476953029633,
+                0.11226822435855865,
+                -0.4799749553203583,
+                0.1735699325799942
+            ],
+            "ee_pos": [
+                0.22061628103256226,
+                0.14507868885993958,
+                0.08639270812273026
+            ],
+            "ee_quat_wxyz": [
+                0.9889217019081116,
+                0.014558454975485802,
+                -0.12434276938438416,
+                0.07975482195615768
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12599016726016998,
+                -0.11245997250080109,
+                -0.07642340660095215,
+                -0.3165992498397827,
+                0.01065397635102272,
+                0.2183084934949875,
+                0.07679875195026398
+            ],
+            "ee_pos": [
+                0.2232610583305359,
+                -0.18712908029556274,
+                0.12320655584335327
+            ],
+            "ee_quat_wxyz": [
+                0.9983504414558411,
+                -0.055283453315496445,
+                0.0122134480625391,
+                -0.009534746408462524
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511474609375,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.128137469291687,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042620897293091,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06011622026562691,
+                -0.0029765383806079626,
+                -0.0713822990655899,
+                0.10269282758235931,
+                -0.05784785374999046,
+                -0.014009559527039528,
+                0.13615278899669647,
+                0.11226822435855865,
+                -0.47996726632118225,
+                0.17326313257217407,
+                0.1266373097896576,
+                -0.11247195303440094,
+                -0.07607585936784744,
+                -0.3175220489501953,
+                0.010689929127693176,
+                0.21860761940479279,
+                0.07708253711462021,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10353287919867998,
+                -0.05976483618816114,
+                -0.016136529035630377,
+                0.13217452677691857,
+                0.10745546250842021,
+                -0.4791398762362713,
+                0.16743421286496482
+            ],
+            "target_pos": [
+                0.22060008347034454,
+                0.14367589354515076,
+                0.0850275456905365
+            ],
+            "target_quat_wxyz": [
+                0.9878812432289124,
+                0.012039554305374622,
+                -0.1336483359336853,
+                0.07799884676933289
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1480147153294146,
+                -0.12176292216573525,
+                -0.06676163445435654,
+                -0.3448912028510315,
+                0.01549218404687952,
+                0.2310406807769932,
+                0.08958935650538649
+            ],
+            "target_pos": [
+                0.2161974459886551,
+                -0.18575383722782135,
+                0.12671241164207458
+            ],
+            "target_quat_wxyz": [
+                0.9980093240737915,
+                -0.05798310413956642,
+                0.024050381034612656,
+                0.006078679580241442
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000071_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 72,
+    "colors": {
+        "color_0": "colors/000072_color_0.jpg",
+        "color_2": "colors/000072_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1025729849934578,
+                -0.05789579078555107,
+                -0.014141385443508625,
+                0.13614079356193542,
+                0.11226822435855865,
+                -0.47996726632118225,
+                0.1718902289867401
+            ],
+            "ee_pos": [
+                0.2206570953130722,
+                0.1449485421180725,
+                0.08642386645078659
+            ],
+            "ee_quat_wxyz": [
+                0.9889862537384033,
+                0.014617898501455784,
+                -0.12439881265163422,
+                0.0788511112332344
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.13219799101352692,
+                -0.11287941783666611,
+                -0.0739906057715416,
+                -0.32622259855270386,
+                0.010630007833242416,
+                0.22134576737880707,
+                0.08120894432067871
+            ],
+            "ee_pos": [
+                0.22201944887638092,
+                -0.18650145828723907,
+                0.12373258918523788
+            ],
+            "ee_quat_wxyz": [
+                0.9983547925949097,
+                -0.055648282170295715,
+                0.012164440006017685,
+                -0.006559198722243309
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511608123779297,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282044649124146,
+                -0.07311122864484787,
+                0.19561542570590973,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060236748307943344,
+                -0.0029613133519887924,
+                -0.07139229774475098,
+                0.1025729849934578,
+                -0.05789579078555107,
+                -0.014153369702398777,
+                0.13616476953029633,
+                0.11226822435855865,
+                -0.4799826145172119,
+                0.17182119190692902,
+                0.13308481872081757,
+                -0.11303520947694778,
+                -0.07360710948705673,
+                -0.32767269015312195,
+                0.01065397635102272,
+                0.2215375155210495,
+                0.0821523442864418,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10358395643256463,
+                -0.0604246787778327,
+                -0.01622708206076916,
+                0.13275756833072033,
+                0.10754677891031883,
+                -0.47885093181689414,
+                0.1663646322609147
+            ],
+            "target_pos": [
+                0.220530167222023,
+                0.14347869157791138,
+                0.0849284827709198
+            ],
+            "target_quat_wxyz": [
+                0.9879578948020935,
+                0.011793239042162895,
+                -0.1332463175058365,
+                0.07775335758924484
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1539744609815423,
+                -0.12439990586203045,
+                -0.06611868712298648,
+                -0.3534321951635715,
+                0.01794990818646829,
+                0.23223869021308208,
+                0.09661313822968476
+            ],
+            "target_pos": [
+                0.21494890749454498,
+                -0.18574991822242737,
+                0.1274789273738861
+            ],
+            "target_quat_wxyz": [
+                0.9980564117431641,
+                -0.056849438697099686,
+                0.022911202162504196,
+                0.0112532963976264
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000072_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 73,
+    "colors": {
+        "color_0": "colors/000073_color_0.jpg",
+        "color_2": "colors/000073_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10256099700927734,
+                -0.057919759303331375,
+                -0.014189322479069233,
+                0.13616476953029633,
+                0.11230417340993881,
+                -0.47996726632118225,
+                0.17132265865802765
+            ],
+            "ee_pos": [
+                0.220664381980896,
+                0.1449020504951477,
+                0.0864216685295105
+            ],
+            "ee_quat_wxyz": [
+                0.9890113472938538,
+                0.014652910642325878,
+                -0.12439081817865372,
+                0.07854118198156357
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.13823804259300232,
+                -0.11449728906154633,
+                -0.07136606425046921,
+                -0.3360496461391449,
+                0.011037471704185009,
+                0.22226615250110626,
+                0.0878434106707573
+            ],
+            "ee_pos": [
+                0.22081147134304047,
+                -0.18582507967948914,
+                0.12457478046417236
+            ],
+            "ee_quat_wxyz": [
+                0.9983422160148621,
+                -0.056464098393917084,
+                0.010950197465717793,
+                -0.0021699632052332163
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051174283027649,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1281909942626953,
+                -0.07307714223861694,
+                0.19564220309257507,
+                0.5042876601219177,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06027692183852196,
+                -0.002953698392957449,
+                -0.07139729708433151,
+                0.1025729849934578,
+                -0.057919759303331375,
+                -0.014201306737959385,
+                0.13616476953029633,
+                0.11232814192771912,
+                -0.47996726632118225,
+                0.17123828828334808,
+                0.13870541751384735,
+                -0.11473697423934937,
+                -0.07113835960626602,
+                -0.3368406295776367,
+                0.011073424480855465,
+                0.22230450809001923,
+                0.08861807733774185,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1037766555086525,
+                -0.061051162250967475,
+                -0.016482711423661558,
+                0.13326355236712853,
+                0.10767195105879736,
+                -0.4787546852190713,
+                0.16556274075195815
+            ],
+            "target_pos": [
+                0.22046925127506256,
+                0.14323073625564575,
+                0.08476588129997253
+            ],
+            "target_quat_wxyz": [
+                0.9880319237709045,
+                0.011617572046816349,
+                -0.13297487795352936,
+                0.07730197161436081
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16083763190994727,
+                -0.12853736868606597,
+                -0.0655483048342046,
+                -0.36321973706945654,
+                0.023009225013828058,
+                0.23307872571049232,
+                0.10747786888146493
+            ],
+            "target_pos": [
+                0.2132086306810379,
+                -0.18561974167823792,
+                0.12852653861045837
+            ],
+            "target_quat_wxyz": [
+                0.9979647994041443,
+                -0.05610224977135658,
+                0.02163584716618061,
+                0.021229930222034454
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000073_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 74,
+    "colors": {
+        "color_0": "colors/000074_color_0.jpg",
+        "color_2": "colors/000074_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10247711092233658,
+                -0.05796769633889198,
+                -0.014381070621311665,
+                0.13616476953029633,
+                0.11230417340993881,
+                -0.4799596071243286,
+                0.17079342901706696
+            ],
+            "ee_pos": [
+                0.22068853676319122,
+                0.14481614530086517,
+                0.08644115924835205
+            ],
+            "ee_quat_wxyz": [
+                0.989035427570343,
+                0.01463677454739809,
+                -0.12442824989557266,
+                0.07818110287189484
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14372681081295013,
+                -0.11685817688703537,
+                -0.06953247636556625,
+                -0.34484606981277466,
+                0.013590111397206783,
+                0.22302547097206116,
+                0.0958431214094162
+            ],
+            "ee_pos": [
+                0.2197006344795227,
+                -0.18531166017055511,
+                0.12536098062992096
+            ],
+            "ee_quat_wxyz": [
+                0.9983441233634949,
+                -0.05660261958837509,
+                0.009853421710431576,
+                0.0028321619611233473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511608123779297,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1282044649124146,
+                -0.07306861877441406,
+                0.19564220309257507,
+                0.5042961835861206,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06019657105207443,
+                -0.0029232490342110395,
+                -0.07144737243652344,
+                0.10245314240455627,
+                -0.05795571208000183,
+                -0.014405039139091969,
+                0.13616476953029633,
+                0.11231616139411926,
+                -0.4799596071243286,
+                0.17072440683841705,
+                0.1443859487771988,
+                -0.11721770465373993,
+                -0.06937667727470398,
+                -0.3457808494567871,
+                0.013925669714808464,
+                0.22306382656097412,
+                0.09680953621864319,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1042630244174371,
+                -0.06176401568975366,
+                -0.01690543666867074,
+                0.13364860108306795,
+                0.1078538420737121,
+                -0.479052020442017,
+                0.1652056160167814
+            ],
+            "target_pos": [
+                0.2202654629945755,
+                0.1429557204246521,
+                0.0845920741558075
+            ],
+            "target_quat_wxyz": [
+                0.988047182559967,
+                0.01129051111638546,
+                -0.1329093724489212,
+                0.07726798206567764
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16983536305324992,
+                -0.1344947716259145,
+                -0.06399431288514607,
+                -0.3739149654301192,
+                0.029454020068992046,
+                0.22912463295473096,
+                0.12227101823349533
+            ],
+            "target_pos": [
+                0.21076692640781403,
+                -0.18506784737110138,
+                0.1297151744365692
+            ],
+            "target_quat_wxyz": [
+                0.9976562857627869,
+                -0.057215433567762375,
+                0.01593201793730259,
+                0.033977534621953964
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000074_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 75,
+    "colors": {
+        "color_0": "colors/000075_color_0.jpg",
+        "color_2": "colors/000075_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10242917388677597,
+                -0.057979680597782135,
+                -0.01441702339798212,
+                0.13615278899669647,
+                0.11232814192771912,
+                -0.4799596071243286,
+                0.17041760683059692
+            ],
+            "ee_pos": [
+                0.22070223093032837,
+                0.14478297531604767,
+                0.08645448088645935
+            ],
+            "ee_quat_wxyz": [
+                0.9890483617782593,
+                0.014658556319773197,
+                -0.12445605546236038,
+                0.07796916365623474
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1516004502773285,
+                -0.120920829474926,
+                -0.06745920330286026,
+                -0.354936808347702,
+                0.01877928152680397,
+                0.22309450805187225,
+                0.10722526162862778
+            ],
+            "ee_pos": [
+                0.21812959015369415,
+                -0.1848190575838089,
+                0.12605266273021698
+            ],
+            "ee_quat_wxyz": [
+                0.9983217120170593,
+                -0.05635456368327141,
+                0.008973033167421818,
+                0.009871321730315685
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511876344680786,
+                -0.12742608785629272,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.128137469291687,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042876601219177,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06015639379620552,
+                -0.002862350782379508,
+                -0.07155753672122955,
+                0.10241718590259552,
+                -0.057979680597782135,
+                -0.01441702339798212,
+                0.13616476953029633,
+                0.11232814192771912,
+                -0.4799596071243286,
+                0.17034856975078583,
+                0.15251125395298004,
+                -0.12138821929693222,
+                -0.06730341166257858,
+                -0.35597941279411316,
+                0.019270634278655052,
+                0.22310218214988708,
+                0.10839109122753143,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10479412174772768,
+                -0.06257998515911344,
+                -0.017288681298879442,
+                0.1340121296705977,
+                0.10792428707823956,
+                -0.47926794433332265,
+                0.16521932533557226
+            ],
+            "target_pos": [
+                0.22016747295856476,
+                0.14276862144470215,
+                0.08439239859580994
+            ],
+            "target_quat_wxyz": [
+                0.9880903959274292,
+                0.01075155008584261,
+                -0.13245034217834473,
+                0.07758039981126785
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18090962318799944,
+                -0.1431438907755679,
+                -0.06075740559397157,
+                -0.3842513472499679,
+                0.037540028126871614,
+                0.217893099467577,
+                0.14258039770476522
+            ],
+            "target_pos": [
+                0.20805473625659943,
+                -0.18407569825649261,
+                0.13083872199058533
+            ],
+            "target_quat_wxyz": [
+                0.996825098991394,
+                -0.05917498841881752,
+                0.006858929060399532,
+                0.052829671651124954
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000075_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 76,
+    "colors": {
+        "color_0": "colors/000076_color_0.jpg",
+        "color_2": "colors/000076_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10241718590259552,
+                -0.05801563337445259,
+                -0.014381070621311665,
+                0.13616476953029633,
+                0.11232814192771912,
+                -0.4799596071243286,
+                0.17011848092079163
+            ],
+            "ee_pos": [
+                0.22070671617984772,
+                0.14476950466632843,
+                0.08645378053188324
+            ],
+            "ee_quat_wxyz": [
+                0.9890589714050293,
+                0.014663338661193848,
+                -0.12445156276226044,
+                0.07784068584442139
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16152338683605194,
+                -0.12716461718082428,
+                -0.06399576365947723,
+                -0.365626722574234,
+                0.025262746959924698,
+                0.22278770804405212,
+                0.12264943867921829
+            ],
+            "ee_pos": [
+                0.21618109941482544,
+                -0.18411655724048615,
+                0.12650839984416962
+            ],
+            "ee_quat_wxyz": [
+                0.9981707334518433,
+                -0.056456781923770905,
+                0.00878074113279581,
+                0.019766714423894882
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0513081550598145,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1281508207321167,
+                -0.07311122864484787,
+                0.19566898047924042,
+                0.504270613193512,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06012961268424988,
+                -0.002847125753760338,
+                -0.07156754285097122,
+                0.10241718590259552,
+                -0.05801563337445259,
+                -0.014381070621311665,
+                0.13616476953029633,
+                0.11232814192771912,
+                -0.4799596071243286,
+                0.17011848092079163,
+                0.16152338683605194,
+                -0.12716461718082428,
+                -0.06399576365947723,
+                -0.365626722574234,
+                0.025262746959924698,
+                0.22278770804405212,
+                0.12264943867921829,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10547901280911856,
+                -0.06347805400748471,
+                -0.0176716361174856,
+                0.13428804542321174,
+                0.1080451912038688,
+                -0.4794842769187151,
+                0.16546833427292562
+            ],
+            "target_pos": [
+                0.2199714332818985,
+                0.14255046844482422,
+                0.084210604429245
+            ],
+            "target_quat_wxyz": [
+                0.9881259202957153,
+                0.010377166792750359,
+                -0.13206042349338531,
+                0.07784274965524673
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19172236350154348,
+                -0.15280216494966437,
+                -0.05624023670570873,
+                -0.3936857715910213,
+                0.044905251806080605,
+                0.2039025456055817,
+                0.16397651707133265
+            ],
+            "target_pos": [
+                0.20617635548114777,
+                -0.18292395770549774,
+                0.13192209601402283
+            ],
+            "target_quat_wxyz": [
+                0.9957927465438843,
+                -0.06194407120347023,
+                -0.00016301177674904466,
+                0.06752540171146393
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000076_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 77,
+    "colors": {
+        "color_0": "colors/000077_color_0.jpg",
+        "color_2": "colors/000077_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10244115442037582,
+                -0.05807555466890335,
+                -0.014381070621311665,
+                0.13617675006389618,
+                0.11228020489215851,
+                -0.4799365997314453,
+                0.16998809576034546
+            ],
+            "ee_pos": [
+                0.22070328891277313,
+                0.14475582540035248,
+                0.08644366264343262
+            ],
+            "ee_quat_wxyz": [
+                0.9890673756599426,
+                0.014622554183006287,
+                -0.12441858649253845,
+                0.07779432833194733
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.17053551971912384,
+                -0.13459482789039612,
+                -0.05977731570601463,
+                -0.37294909358024597,
+                0.03278883919119835,
+                0.21967372298240662,
+                0.14136400818824768
+            ],
+            "ee_pos": [
+                0.21443867683410645,
+                -0.18319669365882874,
+                0.12664955854415894
+            ],
+            "ee_quat_wxyz": [
+                0.997853696346283,
+                -0.056499965488910675,
+                0.008561529219150543,
+                0.031976256519556046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0513216257095337,
+                -0.12742608785629272,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281776428222656,
+                -0.07311122864484787,
+                0.1956288069486618,
+                0.5042961835861206,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06012961268424988,
+                -0.002869967371225357,
+                -0.07161267846822739,
+                0.10244115442037582,
+                -0.05807555466890335,
+                -0.014381070621311665,
+                0.13617675006389618,
+                0.11228020489215851,
+                -0.4799365997314453,
+                0.16998809576034546,
+                0.17053551971912384,
+                -0.13459482789039612,
+                -0.05977731570601463,
+                -0.37294909358024597,
+                0.03278883919119835,
+                0.21967372298240662,
+                0.14136400818824768,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.10751062348481788,
+                -0.06420941382012975,
+                -0.01816858924716502,
+                0.1330252212625772,
+                0.10812086213224459,
+                -0.4795828739813063,
+                0.1655242064660586
+            ],
+            "target_pos": [
+                0.21911396086215973,
+                0.14257562160491943,
+                0.08426348119974136
+            ],
+            "target_quat_wxyz": [
+                0.9881762862205505,
+                0.010261635296046734,
+                -0.13161146640777588,
+                0.07797887176275253
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.20073046120948385,
+                -0.15976395721250347,
+                -0.05039634702654476,
+                -0.4021470773568909,
+                0.046723667069751326,
+                0.18986675241319395,
+                0.1786400029870108
+            ],
+            "target_pos": [
+                0.2049645334482193,
+                -0.181157186627388,
+                0.13307850062847137
+            ],
+            "target_quat_wxyz": [
+                0.9951635599136353,
+                -0.06708220392465591,
+                -0.006532195024192333,
+                0.07146161049604416
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000077_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 78,
+    "colors": {
+        "color_0": "colors/000078_color_0.jpg",
+        "color_2": "colors/000078_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10244115442037582,
+                -0.05820738151669502,
+                -0.014512896537780762,
+                0.13617675006389618,
+                0.11230417340993881,
+                -0.4799365997314453,
+                0.1699037253856659
+            ],
+            "ee_pos": [
+                0.2207060009241104,
+                0.1446952223777771,
+                0.08644580096006393
+            ],
+            "ee_quat_wxyz": [
+                0.9890756011009216,
+                0.014560057781636715,
+                -0.12441981583833694,
+                0.07769908010959625
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18039853870868683,
+                -0.14382268488407135,
+                -0.054803863167762756,
+                -0.3805590867996216,
+                0.037031255662441254,
+                0.21301625669002533,
+                0.1594879925251007
+            ],
+            "ee_pos": [
+                0.21251948177814484,
+                -0.1823909431695938,
+                0.12703461945056915
+            ],
+            "ee_quat_wxyz": [
+                0.9972499012947083,
+                -0.059112194925546646,
+                0.0071498132310807705,
+                0.044128213077783585
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512546300888062,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26223400235176086,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.128110647201538,
+                -0.07311122864484787,
+                0.19564220309257507,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06011622026562691,
+                -0.002824292751029134,
+                -0.07166272401809692,
+                0.10246512293815613,
+                -0.05820738151669502,
+                -0.01450091227889061,
+                0.13616476953029633,
+                0.11228020489215851,
+                -0.47994425892829895,
+                0.1699037253856659,
+                0.18247181177139282,
+                -0.14514094591140747,
+                -0.054372429847717285,
+                -0.38199716806411743,
+                0.03737879917025566,
+                0.21132120490074158,
+                0.16227217018604279,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1095367466039702,
+                -0.06504554410336531,
+                -0.01899505091426064,
+                0.1318440120620042,
+                0.10866984443295304,
+                -0.4797812195516385,
+                0.16577423546684106
+            ],
+            "target_pos": [
+                0.2187761813402176,
+                0.1421176791191101,
+                0.08413294702768326
+            ],
+            "target_quat_wxyz": [
+                0.988213837146759,
+                0.010278712026774883,
+                -0.13140730559825897,
+                0.07784508168697357
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.20526998503166738,
+                -0.16349916128639833,
+                -0.04545435839591765,
+                -0.4077803154796295,
+                0.04714427593385749,
+                0.1803089068234185,
+                0.18764412840231925
+            ],
+            "target_pos": [
+                0.20527561008930206,
+                -0.17997516691684723,
+                0.13387982547283173
+            ],
+            "target_quat_wxyz": [
+                0.994972825050354,
+                -0.06685537099838257,
+                -0.009307092055678368,
+                0.07397840917110443
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000078_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 79,
+    "colors": {
+        "color_0": "colors/000079_color_0.jpg",
+        "color_2": "colors/000079_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10250107944011688,
+                -0.05824333429336548,
+                -0.014632739126682281,
+                0.13618873059749603,
+                0.11234012991189957,
+                -0.47994425892829895,
+                0.16988837718963623
+            ],
+            "ee_pos": [
+                0.22069460153579712,
+                0.1446610540151596,
+                0.08643300831317902
+            ],
+            "ee_quat_wxyz": [
+                0.9890838861465454,
+                0.014550117775797844,
+                -0.12439331412315369,
+                0.07763826102018356
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19112442433834076,
+                -0.15064170956611633,
+                -0.050825100392103195,
+                -0.38915175199508667,
+                0.039392147213220596,
+                0.20100517570972443,
+                0.17307905852794647
+            ],
+            "ee_pos": [
+                0.21041233837604523,
+                -0.1817074418067932,
+                0.12795066833496094
+            ],
+            "ee_quat_wxyz": [
+                0.9966542720794678,
+                -0.061879441142082214,
+                0.0029201966244727373,
+                0.05331709608435631
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511341094970703,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.128137469291687,
+                -0.07309418171644211,
+                0.1956288069486618,
+                0.5042961835861206,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05999569222331047,
+                -0.002869970630854368,
+                -0.07174297422170639,
+                0.10251305997371674,
+                -0.05824333429336548,
+                -0.014572817832231522,
+                0.13616476953029633,
+                0.11234012991189957,
+                -0.47994425892829895,
+                0.16989605128765106,
+                0.19294603168964386,
+                -0.15149259567260742,
+                -0.05013001337647438,
+                -0.3904220759868622,
+                0.039751674979925156,
+                0.19898033142089844,
+                0.17540304362773895,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11162541117653038,
+                -0.06583573525842563,
+                -0.019956952928222582,
+                0.13046924360513731,
+                0.10924939383276665,
+                -0.48006908789250147,
+                0.1659763028201109
+            ],
+            "target_pos": [
+                0.2183704525232315,
+                0.14185571670532227,
+                0.08413020521402359
+            ],
+            "target_quat_wxyz": [
+                0.9882357716560364,
+                0.010065694339573383,
+                -0.13131147623062134,
+                0.0777566209435463
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.20496791024588723,
+                -0.16386664419880298,
+                -0.0416291065251104,
+                -0.409419193205684,
+                0.04544958541252339,
+                0.17430228584689367,
+                0.19025826404515572
+            ],
+            "target_pos": [
+                0.20659048855304718,
+                -0.17895960807800293,
+                0.1343015879392624
+            ],
+            "target_quat_wxyz": [
+                0.9950211048126221,
+                -0.06704238802194595,
+                -0.011656655929982662,
+                0.07281775027513504
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000079_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 80,
+    "colors": {
+        "color_0": "colors/000080_color_0.jpg",
+        "color_2": "colors/000080_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10268083959817886,
+                -0.05830325558781624,
+                -0.014572817832231522,
+                0.13616476953029633,
+                0.11234012991189957,
+                -0.4799365997314453,
+                0.16988837718963623
+            ],
+            "ee_pos": [
+                0.22065724432468414,
+                0.14467598497867584,
+                0.08639886230230331
+            ],
+            "ee_quat_wxyz": [
+                0.9890895485877991,
+                0.014537189155817032,
+                -0.12431205809116364,
+                0.07769817858934402
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1961338371038437,
+                -0.15315839648246765,
+                -0.046918243169784546,
+                -0.3919081389904022,
+                0.04038684070110321,
+                0.1896383911371231,
+                0.1820988655090332
+            ],
+            "ee_pos": [
+                0.2094423621892929,
+                -0.18066199123859406,
+                0.12852025032043457
+            ],
+            "ee_quat_wxyz": [
+                0.9962101578712463,
+                -0.06295580416917801,
+                -0.0011324833612889051,
+                0.06000528857111931
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0508795976638794,
+                -0.12746016681194305,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1281508207321167,
+                -0.07311975210905075,
+                0.1955886334180832,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06011622026562691,
+                -0.003060291288420558,
+                -0.07199884951114655,
+                0.10266885906457901,
+                -0.05830325558781624,
+                -0.014572817832231522,
+                0.13616476953029633,
+                0.11231616139411926,
+                -0.4799365997314453,
+                0.1699037253856659,
+                0.1964574009180069,
+                -0.15335014462471008,
+                -0.046426888555288315,
+                -0.39198005199432373,
+                0.04045874625444412,
+                0.18823479115962982,
+                0.18298858404159546,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11350665899609333,
+                -0.0665327105800066,
+                -0.0208529764635157,
+                0.12902127287228954,
+                0.10996940095580118,
+                -0.48026645950493746,
+                0.1662574276639074
+            ],
+            "target_pos": [
+                0.21804280579090118,
+                0.1416749358177185,
+                0.08419898897409439
+            ],
+            "target_quat_wxyz": [
+                0.9882357716560364,
+                0.010178261436522007,
+                -0.13125064969062805,
+                0.07784439623355865
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19950158439335602,
+                -0.16090534249501898,
+                -0.03957503216976797,
+                -0.40513169620333245,
+                0.04105443551473914,
+                0.17056178220502122,
+                0.18630004966039457
+            ],
+            "target_pos": [
+                0.2091233879327774,
+                -0.17855587601661682,
+                0.13389115035533905
+            ],
+            "target_quat_wxyz": [
+                0.995453953742981,
+                -0.06775452196598053,
+                -0.012616612948477268,
+                0.0657389834523201
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000080_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 81,
+    "colors": {
+        "color_0": "colors/000081_color_0.jpg",
+        "color_2": "colors/000081_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10272877663373947,
+                -0.058339208364486694,
+                -0.014632739126682281,
+                0.13614079356193542,
+                0.11238806694746017,
+                -0.47994425892829895,
+                0.1699037253856659
+            ],
+            "ee_pos": [
+                0.22064818441867828,
+                0.1446569561958313,
+                0.08639594912528992
+            ],
+            "ee_quat_wxyz": [
+                0.9890916347503662,
+                0.0145360566675663,
+                -0.12430773675441742,
+                0.07767919450998306
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.196577250957489,
+                -0.15331418812274933,
+                -0.04447345808148384,
+                -0.392039954662323,
+                0.03977564349770546,
+                0.1830422729253769,
+                0.18378624320030212
+            ],
+            "ee_pos": [
+                0.20936422049999237,
+                -0.17997053265571594,
+                0.12898102402687073
+            ],
+            "ee_quat_wxyz": [
+                0.9960376620292664,
+                -0.06347659975290298,
+                -0.004064231179654598,
+                0.062154620885849
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0507858991622925,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.2622680962085724,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1282044649124146,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.5042876601219177,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.06011622026562691,
+                -0.0028319195844233036,
+                -0.07228919118642807,
+                0.10272877663373947,
+                -0.05832722410559654,
+                -0.014632739126682281,
+                0.13614079356193542,
+                0.11238806694746017,
+                -0.4799365997314453,
+                0.16989605128765106,
+                0.19654129445552826,
+                -0.15330220758914948,
+                -0.044389571994543076,
+                -0.392039954662323,
+                0.03978762775659561,
+                0.18261274695396423,
+                0.18378624320030212,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11523659973514663,
+                -0.06706302691469523,
+                -0.021469333253670078,
+                0.12749168586379434,
+                0.11084862057050113,
+                -0.48050177039626746,
+                0.16680066125756854
+            ],
+            "target_pos": [
+                0.21763475239276886,
+                0.14169371128082275,
+                0.08432022482156754
+            ],
+            "target_quat_wxyz": [
+                0.9881695508956909,
+                0.010563360527157784,
+                -0.1313961148262024,
+                0.07838618010282516
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18893657487661636,
+                -0.15583240109771407,
+                -0.03939172250736536,
+                -0.39523868091067854,
+                0.03466049498548513,
+                0.171343240338531,
+                0.1764587827000885
+            ],
+            "target_pos": [
+                0.21267075836658478,
+                -0.17869232594966888,
+                0.13287226855754852
+            ],
+            "target_quat_wxyz": [
+                0.9961147904396057,
+                -0.06828440725803375,
+                -0.00947834923863411,
+                0.0547967404127121
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000081_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 82,
+    "colors": {
+        "color_0": "colors/000082_color_0.jpg",
+        "color_2": "colors/000082_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10294449329376221,
+                -0.058363176882267,
+                -0.014728613197803497,
+                0.13582921028137207,
+                0.11242401599884033,
+                -0.47994425892829895,
+                0.16991138458251953
+            ],
+            "ee_pos": [
+                0.22060953080654144,
+                0.14464567601680756,
+                0.08642158657312393
+            ],
+            "ee_quat_wxyz": [
+                0.9890853762626648,
+                0.01453373208642006,
+                -0.12436259537935257,
+                0.0776715949177742
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19497136771678925,
+                -0.15297862887382507,
+                -0.04355067387223244,
+                -0.3916324973106384,
+                0.0375945158302784,
+                0.18062624335289001,
+                0.1822829395532608
+            ],
+            "ee_pos": [
+                0.20967327058315277,
+                -0.17972023785114288,
+                0.12939023971557617
+            ],
+            "ee_quat_wxyz": [
+                0.9959872364997864,
+                -0.06444220244884491,
+                -0.005758021492511034,
+                0.06183463707566261
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0507457256317139,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26228514313697815,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1281508207321167,
+                -0.07311122864484787,
+                0.19557523727416992,
+                0.5042876601219177,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06011622026562691,
+                -0.0026492197066545486,
+                -0.07242925465106964,
+                0.10296846181154251,
+                -0.058351192623376846,
+                -0.014764565043151379,
+                0.13580523431301117,
+                0.11244798451662064,
+                -0.47994425892829895,
+                0.1699037253856659,
+                0.19476762413978577,
+                -0.15290673077106476,
+                -0.04350273683667183,
+                -0.3916205167770386,
+                0.03735483065247536,
+                0.1806032359600067,
+                0.18208353221416473,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11614016423594163,
+                -0.06651979716122622,
+                -0.02019367740125839,
+                0.12621600979174644,
+                0.11103979119682167,
+                -0.48028448093616816,
+                0.16768478830140662
+            ],
+            "target_pos": [
+                0.21770016849040985,
+                0.14312829077243805,
+                0.08440422266721725
+            ],
+            "target_quat_wxyz": [
+                0.9879685640335083,
+                0.011559713631868362,
+                -0.13130852580070496,
+                0.08088625967502594
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16606029697024732,
+                -0.1467187931626416,
+                -0.04298239082725781,
+                -0.3718716426049417,
+                0.02521448351259643,
+                0.1803007446258427,
+                0.156052006115103
+            ],
+            "target_pos": [
+                0.22144941985607147,
+                -0.18005697429180145,
+                0.12963950634002686
+            ],
+            "target_quat_wxyz": [
+                0.9973341226577759,
+                -0.0658089891076088,
+                0.0007419642643071711,
+                0.03151552379131317
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000082_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 83,
+    "colors": {
+        "color_0": "colors/000083_color_0.jpg",
+        "color_2": "colors/000083_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10391521453857422,
+                -0.058363176882267,
+                -0.014656707644462585,
+                0.134750634431839,
+                0.11262775212526321,
+                -0.4799365997314453,
+                0.16996507346630096
+            ],
+            "ee_pos": [
+                0.22042442858219147,
+                0.1447300910949707,
+                0.08645710349082947
+            ],
+            "ee_quat_wxyz": [
+                0.9890596866607666,
+                0.014659340493381023,
+                -0.12443368881940842,
+                0.0778605043888092
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1868939995765686,
+                -0.15089337527751923,
+                -0.04298741742968559,
+                -0.38513705134391785,
+                0.031266842037439346,
+                0.17991293966770172,
+                0.17521129548549652
+            ],
+            "ee_pos": [
+                0.21128934621810913,
+                -0.17957788705825806,
+                0.12953096628189087
+            ],
+            "ee_quat_wxyz": [
+                0.996070384979248,
+                -0.06629235297441483,
+                -0.006828688085079193,
+                0.05833111330866814
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050718903541565,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2622680962085724,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1281241178512573,
+                -0.07310270518064499,
+                0.1955350637435913,
+                0.5042620897293091,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.060089435428380966,
+                -0.002710120053961873,
+                -0.07239926606416702,
+                0.10402307659387589,
+                -0.058351192623376846,
+                -0.014812502078711987,
+                0.13473863899707794,
+                0.11262775212526321,
+                -0.4799365997314453,
+                0.1699727475643158,
+                0.18540795147418976,
+                -0.1504260003566742,
+                -0.043059322983026505,
+                -0.3842502236366272,
+                0.030715569853782654,
+                0.17990528047084808,
+                0.1740991622209549,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11696864834036563,
+                -0.06574862228728964,
+                -0.01848608935657072,
+                0.12448687107516906,
+                0.11152732016423433,
+                -0.4794515205132228,
+                0.16889346270033603
+            ],
+            "target_pos": [
+                0.2175186723470688,
+                0.143759623169899,
+                0.08463715761899948
+            ],
+            "target_quat_wxyz": [
+                0.9878593683242798,
+                0.012675524689257145,
+                -0.1310434490442276,
+                0.08246738463640213
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14315896734402334,
+                -0.13910721872567894,
+                -0.049342384707303434,
+                -0.3486539970501734,
+                0.01949808624023749,
+                0.19188920141538046,
+                0.13784403701002745
+            ],
+            "target_pos": [
+                0.2251453846693039,
+                -0.18192683160305023,
+                0.128676176071167
+            ],
+            "target_quat_wxyz": [
+                0.9977825880050659,
+                -0.06220681592822075,
+                0.006463808473199606,
+                0.02276824787259102
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000083_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 84,
+    "colors": {
+        "color_0": "colors/000084_color_0.jpg",
+        "color_2": "colors/000084_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1052934005856514,
+                -0.058363176882267,
+                -0.014536865055561066,
+                0.1336241066455841,
+                0.11262775212526321,
+                -0.4799365997314453,
+                0.17011848092079163
+            ],
+            "ee_pos": [
+                0.22015289962291718,
+                0.14486528933048248,
+                0.08641619980335236
+            ],
+            "ee_quat_wxyz": [
+                0.9890443682670593,
+                0.014710044488310814,
+                -0.12432939559221268,
+                0.07821176946163177
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16960075497627258,
+                -0.14639928936958313,
+                -0.04416187107563019,
+                -0.3701927065849304,
+                0.02635331079363823,
+                0.1812244951725006,
+                0.15942662954330444
+            ],
+            "ee_pos": [
+                0.21474589407444,
+                -0.1797507107257843,
+                0.12951357662677765
+            ],
+            "ee_quat_wxyz": [
+                0.9965294599533081,
+                -0.06602255254983902,
+                -0.007754332385957241,
+                0.05009939521551132
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506787300109863,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2623192369937897,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281776428222656,
+                -0.07309418171644211,
+                0.19556185603141785,
+                0.5042535662651062,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.0614955835044384,
+                -0.002793860388919711,
+                -0.0723542869091034,
+                0.1052934005856514,
+                -0.058363176882267,
+                -0.014536865055561066,
+                0.1336241066455841,
+                0.11262775212526321,
+                -0.4799365997314453,
+                0.17011848092079163,
+                0.16960075497627258,
+                -0.14639928936958313,
+                -0.04416187107563019,
+                -0.3701927065849304,
+                0.02635331079363823,
+                0.1812244951725006,
+                0.15942662954330444,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.11832308199153796,
+                -0.06510440885052987,
+                -0.016373709837100757,
+                0.12102810688566015,
+                0.11145181378253508,
+                -0.4771879030021714,
+                0.170163605171757
+            ],
+            "target_pos": [
+                0.21713034808635712,
+                0.14466257393360138,
+                0.08525215834379196
+            ],
+            "target_quat_wxyz": [
+                0.9877879619598389,
+                0.012704155407845974,
+                -0.13004867732524872,
+                0.08485777676105499
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12272664432890881,
+                -0.13383748211859314,
+                -0.05750285081259225,
+                -0.32743966291049376,
+                0.019045814524412657,
+                0.20066395212711266,
+                0.1232888782976242
+            ],
+            "target_pos": [
+                0.2279789298772812,
+                -0.18404562771320343,
+                0.12826430797576904
+            ],
+            "target_quat_wxyz": [
+                0.9981921911239624,
+                -0.05745171383023262,
+                0.007296906318515539,
+                0.016076412051916122
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000084_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 85,
+    "colors": {
+        "color_0": "colors/000085_color_0.jpg",
+        "color_2": "colors/000085_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10607238113880157,
+                -0.058279287070035934,
+                -0.014476943761110306,
+                0.13128718733787537,
+                0.11269965767860413,
+                -0.4798905849456787,
+                0.17028722167015076
+            ],
+            "ee_pos": [
+                0.2200292944908142,
+                0.1449785828590393,
+                0.0867704451084137
+            ],
+            "ee_quat_wxyz": [
+                0.988925576210022,
+                0.014766143634915352,
+                -0.12509313225746155,
+                0.07848488539457321
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14814899861812592,
+                -0.1417853683233261,
+                -0.04947088286280632,
+                -0.3521205186843872,
+                0.024783378466963768,
+                0.1854199320077896,
+                0.14221537113189697
+            ],
+            "ee_pos": [
+                0.21896323561668396,
+                -0.1807609498500824,
+                0.12959660589694977
+            ],
+            "ee_quat_wxyz": [
+                0.9971179366111755,
+                -0.06412898749113083,
+                -0.008049705997109413,
+                0.03973060101270676
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506385564804077,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.2624896764755249,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1281508207321167,
+                -0.07306861877441406,
+                0.1955350637435913,
+                0.5042024254798889,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.062058042734861374,
+                -0.002915666438639164,
+                -0.07249478995800018,
+                0.10607238113880157,
+                -0.058279287070035934,
+                -0.014476943761110306,
+                0.13128718733787537,
+                0.11269965767860413,
+                -0.4798905849456787,
+                0.17028722167015076,
+                0.14814899861812592,
+                -0.1417853683233261,
+                -0.04947088286280632,
+                -0.3521205186843872,
+                0.024783378466963768,
+                0.1854199320077896,
+                0.14221537113189697,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1200280315064722,
+                -0.06455479428723025,
+                -0.013968075548340172,
+                0.11609498148966557,
+                0.11026340275232896,
+                -0.47369577966729803,
+                0.17100855484545996
+            ],
+            "target_pos": [
+                0.2168111950159073,
+                0.1457621306180954,
+                0.0859588012099266
+            ],
+            "target_quat_wxyz": [
+                0.987733006477356,
+                0.012005616910755634,
+                -0.1290368288755417,
+                0.08711383491754532
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10504304047663296,
+                -0.1322916041509954,
+                -0.06555965688938648,
+                -0.3077779535688432,
+                0.021616278446963108,
+                0.20496779906955032,
+                0.11379381756512402
+            ],
+            "target_pos": [
+                0.23086751997470856,
+                -0.1860416829586029,
+                0.12765094637870789
+            ],
+            "target_quat_wxyz": [
+                0.9983078837394714,
+                -0.0562019906938076,
+                0.0074694398790597916,
+                0.01292125228792429
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000085_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 86,
+    "colors": {
+        "color_0": "colors/000086_color_0.jpg",
+        "color_2": "colors/000086_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10680341720581055,
+                -0.05820738151669502,
+                -0.014464959502220154,
+                0.12796755135059357,
+                0.11278354376554489,
+                -0.4797908663749695,
+                0.1703639179468155
+            ],
+            "ee_pos": [
+                0.21993422508239746,
+                0.1450834423303604,
+                0.08735103160142899
+            ],
+            "ee_quat_wxyz": [
+                0.9887481927871704,
+                0.014797357842326164,
+                -0.12633949518203735,
+                0.07871715724468231
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1269129514694214,
+                -0.13943645358085632,
+                -0.05517537146806717,
+                -0.3325982093811035,
+                0.024507740512490273,
+                0.19004489481449127,
+                0.12759652733802795
+            ],
+            "ee_pos": [
+                0.22313928604125977,
+                -0.18202264606952667,
+                0.12940175831317902
+            ],
+            "ee_quat_wxyz": [
+                0.997542142868042,
+                -0.06256245821714401,
+                -0.007174728903919458,
+                0.030726447701454163
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.12742608785629272,
+                -0.002611419651657343,
+                0.26247262954711914,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281508207321167,
+                -0.07306861877441406,
+                0.19548149406909943,
+                0.504270613193512,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06184377521276474,
+                -0.0029537288937717676,
+                -0.07255999743938446,
+                0.10680341720581055,
+                -0.05819539725780487,
+                -0.014405039139091969,
+                0.12767992913722992,
+                0.1128075122833252,
+                -0.4797908663749695,
+                0.17034856975078583,
+                0.12527111172676086,
+                -0.13937653601169586,
+                -0.05560680478811264,
+                -0.3310762047767639,
+                0.02443583495914936,
+                0.19052809476852417,
+                0.12665313482284546,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12222440438976767,
+                -0.06424846506743154,
+                -0.011524556475247317,
+                0.110220185184777,
+                0.10908047537111784,
+                -0.46954684194188506,
+                0.1720958157430483
+            ],
+            "target_pos": [
+                0.21639002859592438,
+                0.14682762324810028,
+                0.08653851598501205
+            ],
+            "target_quat_wxyz": [
+                0.9876061081886292,
+                0.01215430535376072,
+                -0.12799610197544098,
+                0.09001937508583069
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09066793846447983,
+                -0.13456563379613018,
+                -0.07196279960567119,
+                -0.29027749707285366,
+                0.023269733015135873,
+                0.20425863276816797,
+                0.10761246947481828
+            ],
+            "target_pos": [
+                0.2334599643945694,
+                -0.1879505068063736,
+                0.12717577815055847
+            ],
+            "target_quat_wxyz": [
+                0.9981368184089661,
+                -0.05994291231036186,
+                0.006477879825979471,
+                0.009370139800012112
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000086_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 87,
+    "colors": {
+        "color_0": "colors/000087_color_0.jpg",
+        "color_2": "colors/000087_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.10830144584178925,
+                -0.05814746022224426,
+                -0.013937653973698616,
+                0.12270648032426834,
+                0.11269965767860413,
+                -0.4792923331260681,
+                0.17046362161636353
+            ],
+            "ee_pos": [
+                0.21971270442008972,
+                0.14539267122745514,
+                0.08816059678792953
+            ],
+            "ee_quat_wxyz": [
+                0.9884840250015259,
+                0.01481449231505394,
+                -0.12795822322368622,
+                0.07941367477178574
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10667158663272858,
+                -0.13913685083389282,
+                -0.06137121841311455,
+                -0.3142503499984741,
+                0.024843299761414528,
+                0.1935577094554901,
+                0.11727283895015717
+            ],
+            "ee_pos": [
+                0.22707965970039368,
+                -0.18342244625091553,
+                0.129502534866333
+            ],
+            "ee_quat_wxyz": [
+                0.9977831840515137,
+                -0.06176815927028656,
+                -0.006781730335205793,
+                0.023821115493774414
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506385564804077,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2623448073863983,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1281508207321167,
+                -0.07306861877441406,
+                0.19554845988750458,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0608527734875679,
+                -0.0029004430398344994,
+                -0.07256493717432022,
+                0.10851716250181198,
+                -0.05814746022224426,
+                -0.013877732679247856,
+                0.12209528684616089,
+                0.11271163821220398,
+                -0.4792923331260681,
+                0.1704789698123932,
+                0.10505371540784836,
+                -0.13918478786945343,
+                -0.061838600784540176,
+                -0.3125126361846924,
+                0.02491520345211029,
+                0.19358839094638824,
+                0.1166132241487503,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12420860162456862,
+                -0.06409121935209748,
+                -0.008764780899251248,
+                0.1049746660464437,
+                0.10769038295083483,
+                -0.4658365571550676,
+                0.17338149566229966
+            ],
+            "target_pos": [
+                0.21615935862064362,
+                0.1478608101606369,
+                0.08679553121328354
+            ],
+            "target_quat_wxyz": [
+                0.9873964786529541,
+                0.011886022984981537,
+                -0.1275475025177002,
+                0.09294378757476807
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0760236261969876,
+                -0.13842000828567672,
+                -0.07792575620492959,
+                -0.27116811231727206,
+                0.02541695078430214,
+                0.20125325385926093,
+                0.10389234407804898
+            ],
+            "target_pos": [
+                0.23662824928760529,
+                -0.18993733823299408,
+                0.1264025866985321
+            ],
+            "target_quat_wxyz": [
+                0.9981563687324524,
+                -0.05984944850206375,
+                0.006213461980223656,
+                0.007954869419336319
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000087_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 88,
+    "colors": {
+        "color_0": "colors/000088_color_0.jpg",
+        "color_2": "colors/000088_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11124956607818604,
+                -0.05820738151669502,
+                -0.012918994762003422,
+                0.11595936119556427,
+                0.11260378360748291,
+                -0.47828757762908936,
+                0.1709621697664261
+            ],
+            "ee_pos": [
+                0.21921361982822418,
+                0.14592872560024261,
+                0.08894572407007217
+            ],
+            "ee_quat_wxyz": [
+                0.9881888031959534,
+                0.014869843609631062,
+                -0.1293521374464035,
+                0.08080708980560303
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0890667587518692,
+                -0.1393166184425354,
+                -0.06551776081323624,
+                -0.29586654901504517,
+                0.025430526584386826,
+                0.1939718872308731,
+                0.11123662441968918
+            ],
+            "ee_pos": [
+                0.23055686056613922,
+                -0.18428535759449005,
+                0.1292984038591385
+            ],
+            "ee_quat_wxyz": [
+                0.9979163408279419,
+                -0.06102832779288292,
+                -0.006412880960851908,
+                0.019933737814426422
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506653785705566,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.128164291381836,
+                -0.07307714223861694,
+                0.19560202956199646,
+                0.5042876601219177,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060397449880838394,
+                -0.0028776025865226984,
+                -0.0725598931312561,
+                0.11145329475402832,
+                -0.05820738151669502,
+                -0.012583436444401741,
+                0.11534816771745682,
+                0.11260378360748291,
+                -0.4781188368797302,
+                0.17104654014110565,
+                0.08734103292226791,
+                -0.1393166184425354,
+                -0.06602109968662262,
+                -0.29394906759262085,
+                0.025430526584386826,
+                0.19397954642772675,
+                0.11078409850597382,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12596491074464355,
+                -0.06420497711938762,
+                -0.006345564084881452,
+                0.10087009024273876,
+                0.10693783658586256,
+                -0.46292030613534685,
+                0.17490262637837145
+            ],
+            "target_pos": [
+                0.21593667566776276,
+                0.14841027557849884,
+                0.08684035390615463
+            ],
+            "target_quat_wxyz": [
+                0.9872307777404785,
+                0.012000306509435177,
+                -0.12722377479076385,
+                0.09510749578475952
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06008798733327355,
+                -0.1425128047590321,
+                -0.08454191236169845,
+                -0.24946779001354796,
+                0.02962913535807566,
+                0.1980647870841955,
+                0.10269783715501865
+            ],
+            "target_pos": [
+                0.24028046429157257,
+                -0.1921023279428482,
+                0.1252746284008026
+            ],
+            "target_quat_wxyz": [
+                0.9983596801757812,
+                -0.056332316249608994,
+                0.007393044885247946,
+                0.007069968618452549
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000088_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 89,
+    "colors": {
+        "color_0": "colors/000089_color_0.jpg",
+        "color_2": "colors/000089_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11333481967449188,
+                -0.05830325558781624,
+                -0.009671269915997982,
+                0.10945192724466324,
+                0.11251989006996155,
+                -0.47586387395858765,
+                0.17208963632583618
+            ],
+            "ee_pos": [
+                0.21888883411884308,
+                0.14697585999965668,
+                0.08970099687576294
+            ],
+            "ee_quat_wxyz": [
+                0.9878402352333069,
+                0.015163984149694443,
+                -0.13027025759220123,
+                0.08349452912807465
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07388275116682053,
+                -0.13970011472702026,
+                -0.07092264294624329,
+                -0.27747076749801636,
+                0.02654505893588066,
+                0.19359605014324188,
+                0.10889729857444763
+            ],
+            "ee_pos": [
+                0.2335687130689621,
+                -0.18542201817035675,
+                0.12871153652668
+            ],
+            "ee_quat_wxyz": [
+                0.9980287551879883,
+                -0.06016170233488083,
+                -0.005203074775636196,
+                0.01708943583071232
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0509734153747559,
+                -0.12746016681194305,
+                -0.002651595277711749,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1282044649124146,
+                -0.07306861877441406,
+                0.1955886334180832,
+                0.504270613193512,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06035727262496948,
+                -0.0028319256380200386,
+                -0.07251972705125809,
+                0.11357450485229492,
+                -0.05831523984670639,
+                -0.009407617151737213,
+                0.10867295414209366,
+                0.11249592155218124,
+                -0.4756414592266083,
+                0.17215099930763245,
+                0.07201320677995682,
+                -0.13971209526062012,
+                -0.07198923826217651,
+                -0.2748342454433441,
+                0.02666490152478218,
+                0.19358839094638824,
+                0.1087515726685524,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12723735623654264,
+                -0.06360030260909663,
+                -0.0034698473046927253,
+                0.09836019543005019,
+                0.10579399622220809,
+                -0.46098252834886644,
+                0.17533805291411636
+            ],
+            "target_pos": [
+                0.21583192050457,
+                0.14973559975624084,
+                0.08660530298948288
+            ],
+            "target_quat_wxyz": [
+                0.9871436357498169,
+                0.012336715124547482,
+                -0.12703651189804077,
+                0.09621306508779526
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.04176723963081133,
+                -0.14451854436804268,
+                -0.09113736418452739,
+                -0.22359462851302184,
+                0.03396110632620294,
+                0.19524723771479643,
+                0.10135321924489651
+            ],
+            "target_pos": [
+                0.24485234916210175,
+                -0.19326306879520416,
+                0.12321554869413376
+            ],
+            "target_quat_wxyz": [
+                0.9985637664794922,
+                -0.05248074233531952,
+                0.010002867318689823,
+                0.004013509023934603
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000089_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 90,
+    "colors": {
+        "color_0": "colors/000090_color_0.jpg",
+        "color_2": "colors/000090_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11501260846853256,
+                -0.05830325558781624,
+                -0.007442203816026449,
+                0.10331600904464722,
+                0.11237607896327972,
+                -0.47448328137397766,
+                0.17225071787834167
+            ],
+            "ee_pos": [
+                0.21863104403018951,
+                0.1477150321006775,
+                0.09056872129440308
+            ],
+            "ee_quat_wxyz": [
+                0.9875029921531677,
+                0.015365633182227612,
+                -0.13174091279506683,
+                0.08512413501739502
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05850698798894882,
+                -0.1402633786201477,
+                -0.0791318416595459,
+                -0.25446105003356934,
+                0.02811499312520027,
+                0.19240722060203552,
+                0.10765478014945984
+            ],
+            "ee_pos": [
+                0.2366422861814499,
+                -0.18733836710453033,
+                0.12732799351215363
+            ],
+            "ee_quat_wxyz": [
+                0.9981669783592224,
+                -0.0589970201253891,
+                -0.002304580993950367,
+                0.013291716575622559
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0515090227127075,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19565559923648834,
+                0.5042620897293091,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06031709909439087,
+                -0.0029004316311329603,
+                -0.07231435179710388,
+                0.11512047052383423,
+                -0.058291271328926086,
+                -0.007190535310655832,
+                0.10298044979572296,
+                0.11235211044549942,
+                -0.47446027398109436,
+                0.17226605117321014,
+                0.05668538436293602,
+                -0.14035925269126892,
+                -0.08031827956438065,
+                -0.25144103169441223,
+                0.028258802369236946,
+                0.192560613155365,
+                0.10756273567676544,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12837775079435165,
+                -0.06355372130263723,
+                -0.0015439215221566968,
+                0.09656769070685459,
+                0.10557509265015722,
+                -0.45972378877026066,
+                0.1756415599524429
+            ],
+            "target_pos": [
+                0.21565304696559906,
+                0.1497023105621338,
+                0.08655726164579391
+            ],
+            "target_quat_wxyz": [
+                0.9870678782463074,
+                0.012623561546206474,
+                -0.12708036601543427,
+                0.09689295291900635
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.020795652197527877,
+                -0.14548599246148475,
+                -0.09852329845307176,
+                -0.1926464035692057,
+                0.038533502003663817,
+                0.19296234983700622,
+                0.10058384493586844
+            ],
+            "target_pos": [
+                0.24990396201610565,
+                -0.1950508952140808,
+                0.12064182013273239
+            ],
+            "target_quat_wxyz": [
+                0.9986985325813293,
+                -0.04894805699586868,
+                0.014277000911533833,
+                0.0012466070475056767
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000090_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 91,
+    "colors": {
+        "color_0": "colors/000091_color_0.jpg",
+        "color_2": "colors/000091_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1161031723022461,
+                -0.05832722410559654,
+                -0.005213138181716204,
+                0.10057161748409271,
+                0.11231616139411926,
+                -0.47360891103744507,
+                0.17234274744987488
+            ],
+            "ee_pos": [
+                0.21843364834785461,
+                0.14835992455482483,
+                0.09084615856409073
+            ],
+            "ee_quat_wxyz": [
+                0.9873347878456116,
+                0.015628939494490623,
+                -0.1320692002773285,
+                0.08650681376457214
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.04075834900140762,
+                -0.14105433225631714,
+                -0.08734103292226791,
+                -0.226262167096138,
+                0.03039199486374855,
+                0.19213110208511353,
+                0.10625118762254715
+            ],
+            "ee_pos": [
+                0.24021075665950775,
+                -0.18931248784065247,
+                0.12526628375053406
+            ],
+            "ee_quat_wxyz": [
+                0.9983161091804504,
+                -0.05717667564749718,
+                0.002414015354588628,
+                0.009485786780714989
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519644021987915,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1281776428222656,
+                -0.07311975210905075,
+                0.19578951597213745,
+                0.5042365193367004,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06016978621482849,
+                -0.002869982970878482,
+                -0.07220405340194702,
+                0.1161031723022461,
+                -0.05832722410559654,
+                -0.005213138181716204,
+                0.10057161748409271,
+                0.11231616139411926,
+                -0.47360891103744507,
+                0.17234274744987488,
+                0.04075834900140762,
+                -0.14105433225631714,
+                -0.08734103292226791,
+                -0.226262167096138,
+                0.03039199486374855,
+                0.19213110208511353,
+                0.10625118762254715,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12928589661805479,
+                -0.06416107325091384,
+                -0.0006487263984087101,
+                0.09530166903131577,
+                0.1063093714006691,
+                -0.4592084140956224,
+                0.1759788370926378
+            ],
+            "target_pos": [
+                0.21555010974407196,
+                0.14931106567382812,
+                0.08662163466215134
+            ],
+            "target_quat_wxyz": [
+                0.9869779348373413,
+                0.012785188853740692,
+                -0.12756048142910004,
+                0.0971565768122673
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0026061972263695613,
+                -0.14607998646110418,
+                -0.10704028023051171,
+                -0.15652331321285576,
+                0.04569192892678148,
+                0.19169920485870243,
+                0.10212448256087855
+            ],
+            "target_pos": [
+                0.25531435012817383,
+                -0.19703662395477295,
+                0.11744391173124313
+            ],
+            "target_quat_wxyz": [
+                0.9989461302757263,
+                -0.04095001518726349,
+                0.020681334659457207,
+                0.001428205636329949
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000091_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 92,
+    "colors": {
+        "color_0": "colors/000092_color_0.jpg",
+        "color_2": "colors/000092_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11682222783565521,
+                -0.058471035212278366,
+                -0.0032716935966163874,
+                0.10002034157514572,
+                0.11226822435855865,
+                -0.47164541482925415,
+                0.17257285118103027
+            ],
+            "ee_pos": [
+                0.21831241250038147,
+                0.14887559413909912,
+                0.09061296284198761
+            ],
+            "ee_quat_wxyz": [
+                0.9873705506324768,
+                0.015871189534664154,
+                -0.1309615969657898,
+                0.08773014694452286
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.01883920282125473,
+                -0.14190521836280823,
+                -0.0947832390666008,
+                -0.1924906224012375,
+                0.033843450248241425,
+                0.19121839106082916,
+                0.10533079504966736
+            ],
+            "ee_pos": [
+                0.24461062252521515,
+                -0.1909538358449936,
+                0.12299223989248276
+            ],
+            "ee_quat_wxyz": [
+                0.9984681606292725,
+                -0.05441252514719963,
+                0.007520922925323248,
+                0.006637788377702236
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522054433822632,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.128164291381836,
+                -0.07311122864484787,
+                0.19578951597213745,
+                0.5041683316230774,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06012961268424988,
+                -0.0029004330281168222,
+                -0.07218404859304428,
+                0.11682222783565521,
+                -0.058471035212278366,
+                -0.0032716935966163874,
+                0.10002034157514572,
+                0.11226822435855865,
+                -0.47164541482925415,
+                0.17257285118103027,
+                0.01883920282125473,
+                -0.14190521836280823,
+                -0.0947832390666008,
+                -0.1924906224012375,
+                0.033843450248241425,
+                0.19121839106082916,
+                0.10533079504966736,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13007002760642122,
+                -0.06539412829291233,
+                -0.0009791507984625092,
+                0.09368734307224749,
+                0.10800881539444204,
+                -0.4589365178967445,
+                0.17640401948621504
+            ],
+            "target_pos": [
+                0.2154497355222702,
+                0.148520827293396,
+                0.0870499536395073
+            ],
+            "target_quat_wxyz": [
+                0.986911952495575,
+                0.013050851412117481,
+                -0.12838542461395264,
+                0.09670405834913254
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0278083049629211,
+                -0.14541922564716486,
+                -0.11604518048106849,
+                -0.11667887078897644,
+                0.052760377687020535,
+                0.1914692291902177,
+                0.10179524319268485
+            ],
+            "target_pos": [
+                0.2607859969139099,
+                -0.19860242307186127,
+                0.11403965204954147
+            ],
+            "target_quat_wxyz": [
+                0.9990302324295044,
+                -0.03370048105716705,
+                0.028106898069381714,
+                -0.0035815981682389975
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000092_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 93,
+    "colors": {
+        "color_0": "colors/000093_color_0.jpg",
+        "color_2": "colors/000093_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11781691759824753,
+                -0.05861484631896019,
+                -0.0023489082232117653,
+                0.09949304163455963,
+                0.11237607896327972,
+                -0.4700424075126648,
+                0.17265722155570984
+            ],
+            "ee_pos": [
+                0.21813975274562836,
+                0.1491471230983734,
+                0.09036384522914886
+            ],
+            "ee_quat_wxyz": [
+                0.987445056438446,
+                0.01607377827167511,
+                -0.12992580235004425,
+                0.08839190751314163
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.005968144163489342,
+                -0.14234863221645355,
+                -0.10160226374864578,
+                -0.1557949334383011,
+                0.04006326571106911,
+                0.1898914873600006,
+                0.1049242913722992
+            ],
+            "ee_pos": [
+                0.2495623528957367,
+                -0.1921626776456833,
+                0.12082402408123016
+            ],
+            "ee_quat_wxyz": [
+                0.9986703991889954,
+                -0.04981454834342003,
+                0.012361821718513966,
+                0.004806727636605501
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0521786212921143,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280972957611084,
+                -0.07311122864484787,
+                0.19573594629764557,
+                0.5041342377662659,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06016978621482849,
+                -0.0030679095070809126,
+                -0.07212415337562561,
+                0.11781691759824753,
+                -0.05862683057785034,
+                -0.0024447820615023375,
+                0.09945708513259888,
+                0.11238806694746017,
+                -0.4696972668170929,
+                0.172649547457695,
+                -0.00878443755209446,
+                -0.14243251085281372,
+                -0.10246512293815613,
+                -0.15146861970424652,
+                0.04084223881363869,
+                0.1897994577884674,
+                0.10479390621185303,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1302299649570435,
+                -0.06607762616259463,
+                -0.0015282902496186273,
+                0.09256484110342307,
+                0.10943363458190164,
+                -0.4599891768114036,
+                0.17632092221049378
+            ],
+            "target_pos": [
+                0.21556752920150757,
+                0.1485227793455124,
+                0.08743108063936234
+            ],
+            "target_quat_wxyz": [
+                0.986693263053894,
+                0.013389731757342815,
+                -0.1307252198457718,
+                0.09574966132640839
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05422081081046084,
+                -0.14444368794248896,
+                -0.12358013018849312,
+                -0.07385126407471154,
+                0.059751274830004544,
+                0.19432931360423167,
+                0.10108259392991861
+            ],
+            "target_pos": [
+                0.2663722634315491,
+                -0.19899193942546844,
+                0.10972202569246292
+            ],
+            "target_quat_wxyz": [
+                0.9988099932670593,
+                -0.026762796565890312,
+                0.040441710501909256,
+                -0.005175589118152857
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000093_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 94,
+    "colors": {
+        "color_0": "colors/000094_color_0.jpg",
+        "color_2": "colors/000094_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11872772127389908,
+                -0.0586867518723011,
+                -0.0020133499056100845,
+                0.09880993515253067,
+                0.11244798451662064,
+                -0.4689609706401825,
+                0.17263421416282654
+            ],
+            "ee_pos": [
+                0.21798235177993774,
+                0.1492805778980255,
+                0.09022288024425507
+            ],
+            "ee_quat_wxyz": [
+                0.9874997138977051,
+                0.016199558973312378,
+                -0.12928366661071777,
+                0.08869940787553787
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.027815386652946472,
+                -0.14244450628757477,
+                -0.10790596157312393,
+                -0.1212444081902504,
+                0.04559997841715813,
+                0.18846489489078522,
+                0.10437972843647003
+            ],
+            "ee_pos": [
+                0.25389960408210754,
+                -0.19328650832176208,
+                0.11850844323635101
+            ],
+            "ee_quat_wxyz": [
+                0.9988125562667847,
+                -0.04535204917192459,
+                0.01756441220641136,
+                0.0028623214457184076
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520045757293701,
+                -0.12745164334774017,
+                -0.0026382035575807095,
+                0.2622510492801666,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281241178512573,
+                -0.07311975210905075,
+                0.1956823766231537,
+                0.504125714302063,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06016978621482849,
+                -0.00309835746884346,
+                -0.07202396541833878,
+                0.11881160736083984,
+                -0.058698736131191254,
+                -0.0020013656467199326,
+                0.09880993515253067,
+                0.11242401599884033,
+                -0.4688919186592102,
+                0.17263421416282654,
+                -0.030403979122638702,
+                -0.14244450628757477,
+                -0.10857708007097244,
+                -0.11805660277605057,
+                0.04653474688529968,
+                0.18886372447013855,
+                0.10434138029813766,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1304226939717126,
+                -0.06647152239472126,
+                -0.0021857062076666217,
+                0.09084330680822603,
+                0.11073222308018363,
+                -0.46109696333481487,
+                0.17619571006648638
+            ],
+            "target_pos": [
+                0.21546977758407593,
+                0.14832867681980133,
+                0.08803857117891312
+            ],
+            "target_quat_wxyz": [
+                0.9865126013755798,
+                0.013776394538581371,
+                -0.13225269317626953,
+                0.0954587459564209
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0773033802883895,
+                -0.14429752802106532,
+                -0.12973134703996606,
+                -0.035715033870997656,
+                0.0667320972986361,
+                0.1985378861420889,
+                0.10168496777073723
+            ],
+            "target_pos": [
+                0.26965177059173584,
+                -0.19980566203594208,
+                0.10717702656984329
+            ],
+            "target_quat_wxyz": [
+                0.9985516667366028,
+                -0.02161303721368313,
+                0.04905761778354645,
+                -0.004564797040075064
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000094_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 95,
+    "colors": {
+        "color_0": "colors/000095_color_0.jpg",
+        "color_2": "colors/000095_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11913518607616425,
+                -0.058710720390081406,
+                -0.0023129554465413094,
+                0.09824667870998383,
+                0.11267568916082382,
+                -0.4684777557849884,
+                0.17263421416282654
+            ],
+            "ee_pos": [
+                0.21792222559452057,
+                0.14922906458377838,
+                0.09022486954927444
+            ],
+            "ee_quat_wxyz": [
+                0.987525224685669,
+                0.016290370374917984,
+                -0.12914548814296722,
+                0.08860021084547043
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05107676982879639,
+                -0.14232465624809265,
+                -0.11606722325086594,
+                -0.08423712104558945,
+                0.05360544100403786,
+                0.18935459852218628,
+                0.1043720617890358
+            ],
+            "ee_pos": [
+                0.25842711329460144,
+                -0.19470150768756866,
+                0.11589360982179642
+            ],
+            "ee_quat_wxyz": [
+                0.9989404678344727,
+                -0.03912072256207466,
+                0.024232789874076843,
+                0.00048678653547540307
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519644021987915,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.19569577276706696,
+                0.5041342377662659,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.06014300510287285,
+                -0.003060297342017293,
+                -0.07204896956682205,
+                0.11913518607616425,
+                -0.05873468890786171,
+                -0.0024208135437220335,
+                0.09822271019220352,
+                0.11267568916082382,
+                -0.46843940019607544,
+                0.17264187335968018,
+                -0.05597831681370735,
+                -0.1423366367816925,
+                -0.11804462224245071,
+                -0.07693872600793839,
+                0.054492272436618805,
+                0.18994517624378204,
+                0.10427235066890717,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13037289134834518,
+                -0.06654722564735684,
+                -0.002183190589374779,
+                0.08902804475060605,
+                0.1118749886489728,
+                -0.4623292104129967,
+                0.1767751380828626
+            ],
+            "target_pos": [
+                0.21550315618515015,
+                0.14860190451145172,
+                0.08860314637422562
+            ],
+            "target_quat_wxyz": [
+                0.9861404895782471,
+                0.014321618713438511,
+                -0.13402053713798523,
+                0.0967487245798111
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09815847639564376,
+                -0.14369713569793843,
+                -0.13504549332307975,
+                0.0008969411879493263,
+                0.07120346504085961,
+                0.19924804436457555,
+                0.09983306045313382
+            ],
+            "target_pos": [
+                0.27327197790145874,
+                -0.20059069991111755,
+                0.10406268388032913
+            ],
+            "target_quat_wxyz": [
+                0.9983391165733337,
+                -0.01853441447019577,
+                0.0537569485604763,
+                -0.009255806915462017
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000095_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 96,
+    "colors": {
+        "color_0": "colors/000096_color_0.jpg",
+        "color_2": "colors/000096_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11959058046340942,
+                -0.05873468890786171,
+                -0.0025166873820126057,
+                0.09726396948099136,
+                0.1128075122833252,
+                -0.4684317409992218,
+                0.17264187335968018
+            ],
+            "ee_pos": [
+                0.21784569323062897,
+                0.14921128749847412,
+                0.09034951776266098
+            ],
+            "ee_quat_wxyz": [
+                0.987493097782135,
+                0.016322825103998184,
+                -0.129401296377182,
+                0.08857906609773636
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0782330259680748,
+                -0.14237259328365326,
+                -0.12575048208236694,
+                -0.041489388793706894,
+                0.06007692217826843,
+                0.19190867245197296,
+                0.10365108400583267
+            ],
+            "ee_pos": [
+                0.2636171579360962,
+                -0.1964206099510193,
+                0.11292289942502975
+            ],
+            "ee_quat_wxyz": [
+                0.9989166259765625,
+                -0.0330546535551548,
+                0.03262462839484215,
+                -0.002942032413557172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0517635345458984,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.2622510492801666,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.128137469291687,
+                -0.07311122864484787,
+                0.19570916891098022,
+                0.5041598081588745,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06012961268424988,
+                -0.003052681917324662,
+                -0.07203392684459686,
+                0.11959058046340942,
+                -0.05873468890786171,
+                -0.0025166873820126057,
+                0.09726396948099136,
+                0.1128075122833252,
+                -0.4684317409992218,
+                0.17264187335968018,
+                -0.0782330259680748,
+                -0.14237259328365326,
+                -0.12575048208236694,
+                -0.041489388793706894,
+                0.06007692217826843,
+                0.19190867245197296,
+                0.10365108400583267,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12980861486610895,
+                -0.06648250841142955,
+                -0.0007389432136088455,
+                0.08755323255289624,
+                0.11235387339516881,
+                -0.4628771795126424,
+                0.1783824286121046
+            ],
+            "target_pos": [
+                0.21574175357818604,
+                0.14948885142803192,
+                0.08896125108003616
+            ],
+            "target_quat_wxyz": [
+                0.9857408404350281,
+                0.01437349058687687,
+                -0.13468044996261597,
+                0.09984804689884186
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11590607504461829,
+                -0.14358151580099915,
+                -0.13934722762155188,
+                0.03272180940824571,
+                0.07423715579139922,
+                0.19962197178793484,
+                0.09865134149739477
+            ],
+            "target_pos": [
+                0.2757495641708374,
+                -0.20103125274181366,
+                0.10194290429353714
+            ],
+            "target_quat_wxyz": [
+                0.9980078935623169,
+                -0.016258327290415764,
+                0.06005873531103134,
+                -0.01043437235057354
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000096_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 97,
+    "colors": {
+        "color_0": "colors/000097_color_0.jpg",
+        "color_2": "colors/000097_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11962653696537018,
+                -0.05873468890786171,
+                -0.0024088292848318815,
+                0.0963052362203598,
+                0.1128075122833252,
+                -0.4684317409992218,
+                0.1729026585817337
+            ],
+            "ee_pos": [
+                0.21784724295139313,
+                0.14926490187644958,
+                0.09055615961551666
+            ],
+            "ee_quat_wxyz": [
+                0.9874142408370972,
+                0.016299907118082047,
+                -0.12985612452030182,
+                0.08879672735929489
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09846239537000656,
+                -0.14250442385673523,
+                -0.13104750216007233,
+                -0.00589623861014843,
+                0.06520617008209229,
+                0.19343498349189758,
+                0.10210943967103958
+            ],
+            "ee_pos": [
+                0.26746267080307007,
+                -0.19733786582946777,
+                0.10990272462368011
+            ],
+            "ee_quat_wxyz": [
+                0.9987636804580688,
+                -0.028215816244482994,
+                0.040598880499601364,
+                -0.005171072669327259
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519644021987915,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281508207321167,
+                -0.07311122864484787,
+                0.19573594629764557,
+                0.5042194724082947,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05994212627410889,
+                -0.003090742975473404,
+                -0.07203899323940277,
+                0.11961454898118973,
+                -0.05872270464897156,
+                -0.0024208135437220335,
+                0.09626927971839905,
+                0.11278354376554489,
+                -0.46844708919525146,
+                0.17293334007263184,
+                -0.10029598325490952,
+                -0.14254038035869598,
+                -0.1314070224761963,
+                -0.002612560987472534,
+                0.06551776081323624,
+                0.19352702796459198,
+                0.10200205445289612,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12919178136544557,
+                -0.06642277739671165,
+                0.00205239815899763,
+                0.08638364390182993,
+                0.11247394849465993,
+                -0.46255516431332633,
+                0.1811350132299687
+            ],
+            "target_pos": [
+                0.21581321954727173,
+                0.15071330964565277,
+                0.08906162530183792
+            ],
+            "target_quat_wxyz": [
+                0.985329806804657,
+                0.014645492658019066,
+                -0.13454341888427734,
+                0.10396534949541092
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12880195974228975,
+                -0.14434549073411873,
+                -0.14247296656877723,
+                0.05728822503004315,
+                0.07733548331705353,
+                0.19647442182305766,
+                0.0996659566776146
+            ],
+            "target_pos": [
+                0.2768626809120178,
+                -0.2013857662677765,
+                0.10107851773500443
+            ],
+            "target_quat_wxyz": [
+                0.9980446100234985,
+                -0.01443414855748415,
+                0.06025826185941696,
+                -0.00821834895759821
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000097_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 98,
+    "colors": {
+        "color_0": "colors/000098_color_0.jpg",
+        "color_2": "colors/000098_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11961454898118973,
+                -0.05873468890786171,
+                -0.00173771264962852,
+                0.09546633809804916,
+                0.11281949281692505,
+                -0.4684317409992218,
+                0.1738920658826828
+            ],
+            "ee_pos": [
+                0.21784217655658722,
+                0.14948466420173645,
+                0.09073900431394577
+            ],
+            "ee_quat_wxyz": [
+                0.9872850775718689,
+                0.016304096207022667,
+                -0.13026240468025208,
+                0.08963321149349213
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11569570749998093,
+                -0.14254038035869598,
+                -0.1345229297876358,
+                0.024951156228780746,
+                0.07038335502147675,
+                0.19346566498279572,
+                0.10180263966321945
+            ],
+            "ee_pos": [
+                0.27071693539619446,
+                -0.19774313271045685,
+                0.10734499245882034
+            ],
+            "ee_quat_wxyz": [
+                0.9985937476158142,
+                -0.02368669956922531,
+                0.04704960435628891,
+                -0.005981713533401489
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522456169128418,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.19584308564662933,
+                0.5041853785514832,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05984838306903839,
+                -0.002953715156763792,
+                -0.07185836881399155,
+                0.11962653696537018,
+                -0.05873468890786171,
+                -0.0017137442482635379,
+                0.09546633809804916,
+                0.11284346133470535,
+                -0.46843940019607544,
+                0.1740071177482605,
+                -0.11685817688703537,
+                -0.14255236089229584,
+                -0.1348225325345993,
+                0.027108317241072655,
+                0.07061105221509933,
+                0.19350402057170868,
+                0.10179497301578522,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.12865679334850866,
+                -0.06620362504325618,
+                0.005485191147877689,
+                0.0860116616415326,
+                0.11239629823521882,
+                -0.4620915471105203,
+                0.1843208065471032
+            ],
+            "target_pos": [
+                0.21578341722488403,
+                0.15178100764751434,
+                0.08889055997133255
+            ],
+            "target_quat_wxyz": [
+                0.9850041270256042,
+                0.015118117444217205,
+                -0.1342383176088333,
+                0.10732369869947433
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1379175949438473,
+                -0.14515275101106262,
+                -0.14560351477214606,
+                0.07508043834725842,
+                0.08192188295082761,
+                0.19194909812443883,
+                0.10189296908387246
+            ],
+            "target_pos": [
+                0.27744346857070923,
+                -0.20198293030261993,
+                0.10094607621431351
+            ],
+            "target_quat_wxyz": [
+                0.9981424808502197,
+                -0.010298456996679306,
+                0.059589724987745285,
+                -0.007390614598989487
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000098_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 99,
+    "colors": {
+        "color_0": "colors/000099_color_0.jpg",
+        "color_2": "colors/000099_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11956661194562912,
+                -0.05878262594342232,
+                -0.0006231797160580754,
+                0.0944836288690567,
+                0.11287941783666611,
+                -0.46843940019607544,
+                0.17621605098247528
+            ],
+            "ee_pos": [
+                0.21782730519771576,
+                0.14986588060855865,
+                0.09095742553472519
+            ],
+            "ee_quat_wxyz": [
+                0.9870638251304626,
+                0.016269082203507423,
+                -0.13075710833072662,
+                0.09133965522050858
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12699683010578156,
+                -0.14254038035869598,
+                -0.136919766664505,
+                0.04888365417718887,
+                0.07372695207595825,
+                0.19264498353004456,
+                0.10197904706001282
+            ],
+            "ee_pos": [
+                0.2727935016155243,
+                -0.19809064269065857,
+                0.10491839796304703
+            ],
+            "ee_quat_wxyz": [
+                0.9983788728713989,
+                -0.020512644201517105,
+                0.05268721282482147,
+                -0.006552130915224552
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052553653717041,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.2622169554233551,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1286195516586304,
+                -0.07311975210905075,
+                0.19603057205677032,
+                0.5041768550872803,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.059741247445344925,
+                -0.0028699657414108515,
+                -0.07155253738164902,
+                0.11956661194562912,
+                -0.05878262594342232,
+                -0.0006231797160580754,
+                0.0944836288690567,
+                0.11287941783666611,
+                -0.46843940019607544,
+                0.17621605098247528,
+                -0.12699683010578156,
+                -0.14254038035869598,
+                -0.136919766664505,
+                0.04888365417718887,
+                0.07372695207595825,
+                0.19264498353004456,
+                0.10197904706001282,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1306110058469601,
+                -0.06633776559673166,
+                0.00803772942633661,
+                0.08525319317881135,
+                0.11281213640916589,
+                -0.4624737237092737,
+                0.1876448338518418
+            ],
+            "target_pos": [
+                0.21445755660533905,
+                0.15227356553077698,
+                0.08827913552522659
+            ],
+            "target_quat_wxyz": [
+                0.9848094582557678,
+                0.015658888965845108,
+                -0.13340824842453003,
+                0.11003333330154419
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1409565269256776,
+                -0.14619649680545496,
+                -0.14793130893315753,
+                0.08394850951376456,
+                0.08675272979247442,
+                0.18751181639265282,
+                0.10540864129787536
+            ],
+            "target_pos": [
+                0.2762054204940796,
+                -0.20249001681804657,
+                0.10079718381166458
+            ],
+            "target_quat_wxyz": [
+                0.9981815218925476,
+                -0.00861893966794014,
+                0.059331029653549194,
+                -0.006259649991989136
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000099_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 100,
+    "colors": {
+        "color_0": "colors/000100_color_0.jpg",
+        "color_2": "colors/000100_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11963851749897003,
+                -0.05892643705010414,
+                0.002061286708340049,
+                0.09329719096422195,
+                0.11287941783666611,
+                -0.4684317409992218,
+                0.18054187297821045
+            ],
+            "ee_pos": [
+                0.21774634718894958,
+                0.1507183462381363,
+                0.09117493033409119
+            ],
+            "ee_quat_wxyz": [
+                0.9866698980331421,
+                0.01622490957379341,
+                -0.1312476098537445,
+                0.09483318775892258
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.133648082613945,
+                -0.14257632195949554,
+                -0.1386694759130478,
+                0.06354036182165146,
+                0.07792143523693085,
+                0.19063547253608704,
+                0.10311419516801834
+            ],
+            "ee_pos": [
+                0.27400296926498413,
+                -0.19829177856445312,
+                0.10353388637304306
+            ],
+            "ee_quat_wxyz": [
+                0.9982895851135254,
+                -0.017543187364935875,
+                0.0554003082215786,
+                -0.006399507634341717
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528348684310913,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.129141926765442,
+                -0.07311122864484787,
+                0.19603057205677032,
+                0.5041171908378601,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05986177176237106,
+                -0.002793829422444105,
+                -0.07118156552314758,
+                0.11963851749897003,
+                -0.05892643705010414,
+                0.002061286708340049,
+                0.09329719096422195,
+                0.11287941783666611,
+                -0.4684317409992218,
+                0.18054187297821045,
+                -0.133648082613945,
+                -0.14257632195949554,
+                -0.1386694759130478,
+                0.06354036182165146,
+                0.07792143523693085,
+                0.19063547253608704,
+                0.10311419516801834,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13267227340815196,
+                -0.06632042938593344,
+                0.009743825066545756,
+                0.08465550120265027,
+                0.11334675490928725,
+                -0.4626804435424875,
+                0.1904532961267405
+            ],
+            "target_pos": [
+                0.21417634189128876,
+                0.15268969535827637,
+                0.08805633336305618
+            ],
+            "target_quat_wxyz": [
+                0.9847425222396851,
+                0.016109617426991463,
+                -0.13273894786834717,
+                0.11136902868747711
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14157620116297626,
+                -0.14751390550084742,
+                -0.1492071252536587,
+                0.08785685478861499,
+                0.08986079548444094,
+                0.18327383796408156,
+                0.10761396782392757
+            ],
+            "target_pos": [
+                0.2759574055671692,
+                -0.20280595123767853,
+                0.10118604451417923
+            ],
+            "target_quat_wxyz": [
+                0.9982250928878784,
+                -0.009832838550209999,
+                0.058351848274469376,
+                -0.0067103165201842785
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6417776668071746
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000100_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 101,
+    "colors": {
+        "color_0": "colors/000101_color_0.jpg",
+        "color_2": "colors/000101_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.11985423415899277,
+                -0.05908222869038582,
+                0.005800365004688501,
+                0.09276989102363586,
+                0.11293933540582657,
+                -0.4684317409992218,
+                0.18355615437030792
+            ],
+            "ee_pos": [
+                0.21761853992938995,
+                0.15175436437129974,
+                0.09120119363069534
+            ],
+            "ee_quat_wxyz": [
+                0.9863318800926208,
+                0.016443965956568718,
+                -0.13130469620227814,
+                0.09817366302013397
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1387174129486084,
+                -0.14260029792785645,
+                -0.14015550911426544,
+                0.07106645405292511,
+                0.08267916738986969,
+                0.18687722086906433,
+                0.10520040988922119
+            ],
+            "ee_pos": [
+                0.2749829590320587,
+                -0.19828028976917267,
+                0.10355015099048615
+            ],
+            "ee_quat_wxyz": [
+                0.9983904957771301,
+                -0.0147923044860363,
+                0.05447913706302643,
+                -0.005443906411528587
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0530223846435547,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1293561458587646,
+                -0.07311122864484787,
+                0.19605734944343567,
+                0.5040661096572876,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.060089435428380966,
+                -0.002809053286910057,
+                -0.071121446788311,
+                0.11987820267677307,
+                -0.05909421294927597,
+                0.006207828875631094,
+                0.09274592250585556,
+                0.11292735487222672,
+                -0.46843940019607544,
+                0.18376323580741882,
+                -0.13916082680225372,
+                -0.1426122784614563,
+                -0.14035925269126892,
+                0.07174955308437347,
+                0.08311060070991516,
+                0.1865013986825943,
+                0.10539215803146362,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13468060069975862,
+                -0.06648976608456568,
+                0.010790169477468152,
+                0.08424373249813782,
+                0.11379102199719592,
+                -0.46289102474041127,
+                0.192199467832042
+            ],
+            "target_pos": [
+                0.21385137736797333,
+                0.15288075804710388,
+                0.0877852514386177
+            ],
+            "target_quat_wxyz": [
+                0.9847632646560669,
+                0.016083668917417526,
+                -0.13206425309181213,
+                0.1119895800948143
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14053012592524286,
+                -0.1490383959416212,
+                -0.1494768114064201,
+                0.08785785276858138,
+                0.09077476897065567,
+                0.18014205856650217,
+                0.10806754743797306
+            ],
+            "target_pos": [
+                0.27539676427841187,
+                -0.20307008922100067,
+                0.10184336453676224
+            ],
+            "target_quat_wxyz": [
+                0.9982509016990662,
+                -0.012278982438147068,
+                0.05732200667262077,
+                -0.007652999833226204
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8004443240165711
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000101_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 102,
+    "colors": {
+        "color_0": "colors/000102_color_0.jpg",
+        "color_2": "colors/000102_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.12026169896125793,
+                -0.05922603979706764,
+                0.008844357915222645,
+                0.09235043823719025,
+                0.11298727244138718,
+                -0.4684317409992218,
+                0.18604886531829834
+            ],
+            "ee_pos": [
+                0.21746227145195007,
+                0.1526101678609848,
+                0.09117191284894943
+            ],
+            "ee_quat_wxyz": [
+                0.9860584735870361,
+                0.016627708449959755,
+                -0.1312357485294342,
+                0.10094273835420609
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14132997393608093,
+                -0.14310362935066223,
+                -0.14105433225631714,
+                0.07446997612714767,
+                0.08596284687519073,
+                0.18337206542491913,
+                0.10641225427389145
+            ],
+            "ee_pos": [
+                0.2755063772201538,
+                -0.19837647676467896,
+                0.10386133193969727
+            ],
+            "ee_quat_wxyz": [
+                0.998497724533081,
+                -0.013303343206644058,
+                0.052926626056432724,
+                -0.004904655739665031
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7402532997634843
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527946949005127,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250085592269897,
+                0.009695465676486492,
+                -1.129115104675293,
+                -0.07311122864484787,
+                0.19605734944343567,
+                0.5041171908378601,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060076043009757996,
+                -0.002847114810720086,
+                -0.07114656269550323,
+                0.12032162398099899,
+                -0.059238024055957794,
+                0.009072058834135532,
+                0.09229052066802979,
+                0.11296330392360687,
+                -0.4684317409992218,
+                0.18634033203125,
+                -0.14147378504276276,
+                -0.1432114988565445,
+                -0.14110226929187775,
+                0.07474561035633087,
+                0.08611864596605301,
+                0.18309596180915833,
+                0.10648895055055618,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13636681018425661,
+                -0.06680943033683381,
+                0.011174377367814948,
+                0.08430297567312937,
+                0.11459391036738259,
+                -0.4632479014450904,
+                0.19331485715999402
+            ],
+            "target_pos": [
+                0.2135687917470932,
+                0.15276527404785156,
+                0.0874105766415596
+            ],
+            "target_quat_wxyz": [
+                0.9848092198371887,
+                0.01654100976884365,
+                -0.13156557083129883,
+                0.11210592836141586
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.13845619571365358,
+                -0.1505292319902371,
+                -0.14921845289687505,
+                0.0856788714417977,
+                0.09098943786394503,
+                0.1769419090632412,
+                0.10817075621737693
+            ],
+            "target_pos": [
+                0.2747589945793152,
+                -0.20328472554683685,
+                0.10247565060853958
+            ],
+            "target_quat_wxyz": [
+                0.9983656406402588,
+                -0.01311413198709488,
+                0.055115707218647,
+                -0.007508179638534784
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.1093333029747008
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000102_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 103,
+    "colors": {
+        "color_0": "colors/000103_color_0.jpg",
+        "color_2": "colors/000103_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.12112456560134888,
+                -0.05932191386818886,
+                0.010486196726560593,
+                0.09213472157716751,
+                0.11299926042556763,
+                -0.4684317409992218,
+                0.18858760595321655
+            ],
+            "ee_pos": [
+                0.2172306627035141,
+                0.15316589176654816,
+                0.0910196453332901
+            ],
+            "ee_quat_wxyz": [
+                0.9858784079551697,
+                0.016677455976605415,
+                -0.13089607656002045,
+                0.10311099141836166
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1416655331850052,
+                -0.14395451545715332,
+                -0.1410902887582779,
+                0.07558450847864151,
+                0.08702944219112396,
+                0.18158498406410217,
+                0.10705652832984924
+            ],
+            "ee_pos": [
+                0.275581955909729,
+                -0.1985228806734085,
+                0.10392507165670395
+            ],
+            "ee_quat_wxyz": [
+                0.9985305666923523,
+                -0.013207927346229553,
+                0.05235479027032852,
+                -0.004607837181538343
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7402532997634843
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0526741743087769,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1287535429000854,
+                -0.07310270518064499,
+                0.1960037797689438,
+                0.504125714302063,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.060076043009757996,
+                -0.0028471152763813734,
+                -0.07116660475730896,
+                0.12112456560134888,
+                -0.05932191386818886,
+                0.010486196726560593,
+                0.09213472157716751,
+                0.11299926042556763,
+                -0.4684317409992218,
+                0.18858760595321655,
+                -0.1416655331850052,
+                -0.14395451545715332,
+                -0.1410902887582779,
+                0.07558450847864151,
+                0.08702944219112396,
+                0.18158498406410217,
+                0.10705652832984924,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13933189227195142,
+                -0.06751072706664922,
+                0.01016737404923153,
+                0.08287252620285554,
+                0.11595621061549244,
+                -0.46332162553164635,
+                0.1939855600210479
+            ],
+            "target_pos": [
+                0.21241657435894012,
+                0.15211834013462067,
+                0.08733443915843964
+            ],
+            "target_quat_wxyz": [
+                0.9849936962127686,
+                0.01693696342408657,
+                -0.13062597811222076,
+                0.11152325570583344
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.13398061199720368,
+                -0.151463438503406,
+                -0.14883216122062087,
+                0.07832604610632625,
+                0.09091455148227132,
+                0.1752994119213841,
+                0.10747406051598288
+            ],
+            "target_pos": [
+                0.2728787362575531,
+                -0.20338074862957,
+                0.10391752421855927
+            ],
+            "target_quat_wxyz": [
+                0.9984597563743591,
+                -0.014019032008945942,
+                0.052996013313531876,
+                -0.00854128785431385
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7844444823265073
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000103_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 104,
+    "colors": {
+        "color_0": "colors/000104_color_0.jpg",
+        "color_2": "colors/000104_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.12318585067987442,
+                -0.05940580368041992,
+                0.011337077245116234,
+                0.09190702438354492,
+                0.113131083548069,
+                -0.46843940019607544,
+                0.1903747022151947
+            ],
+            "ee_pos": [
+                0.21677130460739136,
+                0.15356363356113434,
+                0.09063176810741425
+            ],
+            "ee_quat_wxyz": [
+                0.985828697681427,
+                0.016822919249534607,
+                -0.13001956045627594,
+                0.10465996712446213
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14156965911388397,
+                -0.14412228763103485,
+                -0.14101837575435638,
+                0.07544069737195969,
+                0.0872451588511467,
+                0.18110178411006927,
+                0.10729429125785828
+            ],
+            "ee_pos": [
+                0.2755706012248993,
+                -0.19852888584136963,
+                0.10398885607719421
+            ],
+            "ee_quat_wxyz": [
+                0.9985454082489014,
+                -0.013219824060797691,
+                0.05208143964409828,
+                -0.004456329625099897
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7936598764019234
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525134801864624,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128458857536316,
+                -0.07310270518064499,
+                0.1960037797689438,
+                0.5041342377662659,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06010282784700394,
+                -0.0028014446143060923,
+                -0.07118658721446991,
+                0.12341354787349701,
+                -0.05940580368041992,
+                0.011361045762896538,
+                0.09191900491714478,
+                0.113131083548069,
+                -0.4684547483921051,
+                0.19041304290294647,
+                -0.14155766367912292,
+                -0.14414626359939575,
+                -0.14103035628795624,
+                0.07544069737195969,
+                0.08725714683532715,
+                0.1810634285211563,
+                0.10729429125785828,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14146613273108363,
+                -0.0682708353050056,
+                0.008693368863632011,
+                0.08231906338727418,
+                0.11724091556093834,
+                -0.4636498786204117,
+                0.19445818552100982
+            ],
+            "target_pos": [
+                0.212389275431633,
+                0.15160156786441803,
+                0.08704130351543427
+            ],
+            "target_quat_wxyz": [
+                0.9851021766662598,
+                0.01683627814054489,
+                -0.1304059475660324,
+                0.11083540320396423
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12878347371781948,
+                -0.1519250547012171,
+                -0.14768001923799368,
+                0.06915868156786266,
+                0.08976395130503098,
+                0.1731355441344961,
+                0.10668548828176877
+            ],
+            "target_pos": [
+                0.27182623744010925,
+                -0.2029278725385666,
+                0.10516528785228729
+            ],
+            "target_quat_wxyz": [
+                0.9986080527305603,
+                -0.016684640198946,
+                0.049349524080753326,
+                -0.00826142355799675
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.1915555691719053
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000104_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 105,
+    "colors": {
+        "color_0": "colors/000105_color_0.jpg",
+        "color_2": "colors/000105_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1261579394340515,
+                -0.059489693492650986,
+                0.011576761491596699,
+                0.09187106788158417,
+                0.11332283169031143,
+                -0.46844708919525146,
+                0.19050508737564087
+            ],
+            "ee_pos": [
+                0.21614739298820496,
+                0.15378274023532867,
+                0.09002002328634262
+            ],
+            "ee_quat_wxyz": [
+                0.9859499335289001,
+                0.017096081748604774,
+                -0.12862259149551392,
+                0.10519832372665405
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.14094647765159607,
+                -0.14434999227523804,
+                -0.14094647765159607,
+                0.07415838539600372,
+                0.08720920979976654,
+                0.18067993223667145,
+                0.10726360976696014
+            ],
+            "ee_pos": [
+                0.2754613757133484,
+                -0.1985742300748825,
+                0.10417424887418747
+            ],
+            "ee_quat_wxyz": [
+                0.9985701441764832,
+                -0.013455611653625965,
+                0.051541946828365326,
+                -0.004470717627555132
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.041237506675822
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0524733066558838,
+                -0.12745164334774017,
+                -0.0026382035575807095,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1282312870025635,
+                -0.07311975210905075,
+                0.1959502100944519,
+                0.5041512846946716,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06004926189780235,
+                -0.002824279945343733,
+                -0.07118161022663116,
+                0.12648151814937592,
+                -0.059489693492650986,
+                0.011564777232706547,
+                0.09185908734798431,
+                0.11331085115671158,
+                -0.46843940019607544,
+                0.1905127465724945,
+                -0.14089854061603546,
+                -0.14434999227523804,
+                -0.14094647765159607,
+                0.07406251132488251,
+                0.08718524128198624,
+                0.18059556186199188,
+                0.10726360976696014,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14290644151615242,
+                -0.069140671696619,
+                0.006909178300667876,
+                0.08211073359004895,
+                0.11836337545315971,
+                -0.4638666454768102,
+                0.19454456108196638
+            ],
+            "target_pos": [
+                0.21238063275814056,
+                0.15095673501491547,
+                0.08690981566905975
+            ],
+            "target_quat_wxyz": [
+                0.9852584600448608,
+                0.016548776999115944,
+                -0.1301535665988922,
+                0.1097814217209816
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1228692064237574,
+                -0.15175128807344374,
+                -0.1461074748042045,
+                0.058050941728268704,
+                0.08795641631560572,
+                0.17027461804718647,
+                0.10557200826742505
+            ],
+            "target_pos": [
+                0.2704990804195404,
+                -0.2023882418870926,
+                0.10679571330547333
+            ],
+            "target_quat_wxyz": [
+                0.9987896680831909,
+                -0.018924977630376816,
+                0.04460744932293892,
+                -0.008439786732196808
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.2631111204624172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000105_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 106,
+    "colors": {
+        "color_0": "colors/000106_color_0.jpg",
+        "color_2": "colors/000106_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.12892629206180573,
+                -0.0595615990459919,
+                0.011181281879544258,
+                0.09187106788158417,
+                0.1134786307811737,
+                -0.4684547483921051,
+                0.19050508737564087
+            ],
+            "ee_pos": [
+                0.2155771553516388,
+                0.15383368730545044,
+                0.08945194631814957
+            ],
+            "ee_quat_wxyz": [
+                0.9860998392105103,
+                0.01727362908422947,
+                -0.12732337415218353,
+                0.10534434765577316
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1384177953004837,
+                -0.14469753205776215,
+                -0.14099441468715668,
+                0.07049120962619781,
+                0.08684968203306198,
+                0.1797211915254593,
+                0.10717924684286118
+            ],
+            "ee_pos": [
+                0.2749845087528229,
+                -0.19875900447368622,
+                0.10446997731924057
+            ],
+            "ee_quat_wxyz": [
+                0.9986145496368408,
+                -0.01406638789921999,
+                0.050485774874687195,
+                -0.004720976110547781
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.2186236362249172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525000095367432,
+                -0.12741756439208984,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1282446384429932,
+                -0.07310270518064499,
+                0.19593682885169983,
+                0.5041171908378601,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060076043009757996,
+                -0.002869950607419014,
+                -0.07116162776947021,
+                0.12892629206180573,
+                -0.0595615990459919,
+                0.011181281879544258,
+                0.09187106788158417,
+                0.1134786307811737,
+                -0.4684547483921051,
+                0.19050508737564087,
+                -0.1384177953004837,
+                -0.14469753205776215,
+                -0.14099441468715668,
+                0.07049120962619781,
+                0.08684968203306198,
+                0.1797211915254593,
+                0.10717924684286118,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14341940264110897,
+                -0.0699123558079986,
+                0.005246714143455486,
+                0.08233657396118016,
+                0.11927137609466845,
+                -0.46409352790299574,
+                0.19455194914504567
+            ],
+            "target_pos": [
+                0.2125345915555954,
+                0.1504606157541275,
+                0.08688120543956757
+            ],
+            "target_quat_wxyz": [
+                0.9853114485740662,
+                0.01643703691661358,
+                -0.13036051392555237,
+                0.10907454043626785
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11681555021057938,
+                -0.15082301741454474,
+                -0.14439580052016535,
+                0.045321506307391825,
+                0.08610002005429895,
+                0.1672449268833195,
+                0.10414224273124775
+            ],
+            "target_pos": [
+                0.26925531029701233,
+                -0.2016582041978836,
+                0.10877828299999237
+            ],
+            "target_quat_wxyz": [
+                0.9989889860153198,
+                -0.01994466595351696,
+                0.0393696129322052,
+                -0.008559760637581348
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.2982222294807433
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000106_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 107,
+    "colors": {
+        "color_0": "colors/000107_color_0.jpg",
+        "color_2": "colors/000107_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1305801123380661,
+                -0.059609536081552505,
+                0.010965566150844097,
+                0.09189503639936447,
+                0.11358648538589478,
+                -0.46844708919525146,
+                0.19056645035743713
+            ],
+            "ee_pos": [
+                0.21523475646972656,
+                0.1538701057434082,
+                0.08910663425922394
+            ],
+            "ee_quat_wxyz": [
+                0.9861868023872375,
+                0.017383720725774765,
+                -0.12652938067913055,
+                0.1054692193865776
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.13448697328567505,
+                -0.14484134316444397,
+                -0.13997575640678406,
+                0.06412758678197861,
+                0.08644221723079681,
+                0.17848634719848633,
+                0.10651195794343948
+            ],
+            "ee_pos": [
+                0.27427318692207336,
+                -0.19869796931743622,
+                0.10500124096870422
+            ],
+            "ee_quat_wxyz": [
+                0.998690664768219,
+                -0.01488694828003645,
+                0.04870956018567085,
+                -0.004763659089803696
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.5817883573662925
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527276992797852,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.12833833694458,
+                -0.07311975210905075,
+                0.1959502100944519,
+                0.5041171908378601,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.05946001783013344,
+                -0.00288517982698977,
+                -0.07113157957792282,
+                0.13074789941310883,
+                -0.059609536081552505,
+                0.010965566150844097,
+                0.09188305586576462,
+                0.11361045390367508,
+                -0.46846240758895874,
+                0.19058945775032043,
+                -0.13374395668506622,
+                -0.14485332369804382,
+                -0.14002369344234467,
+                0.06294114887714386,
+                0.08646618574857712,
+                0.17821790277957916,
+                0.10646594315767288,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14287182623815747,
+                -0.07049219927312803,
+                0.0040956942565375225,
+                0.08324205765532115,
+                0.11960555281474179,
+                -0.4642232009513142,
+                0.19440956258808834
+            ],
+            "target_pos": [
+                0.21283744275569916,
+                0.1501578539609909,
+                0.08681897819042206
+            ],
+            "target_quat_wxyz": [
+                0.9853748083114624,
+                0.015961650758981705,
+                -0.13039448857307434,
+                0.10853105038404465
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11085957443313788,
+                -0.14963478294049862,
+                -0.14239009820336843,
+                0.031204690858333356,
+                0.0847426093106521,
+                0.16513985159495054,
+                0.10280055110396741
+            ],
+            "target_pos": [
+                0.2679682672023773,
+                -0.20079462230205536,
+                0.11097578704357147
+            ],
+            "target_quat_wxyz": [
+                0.9991430044174194,
+                -0.02067769132554531,
+                0.03495880588889122,
+                -0.007972771301865578
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3248888945579527
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000107_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 108,
+    "colors": {
+        "color_0": "colors/000108_color_0.jpg",
+        "color_2": "colors/000108_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1311074197292328,
+                -0.05969342589378357,
+                0.010953581891953945,
+                0.09187106788158417,
+                0.11361045390367508,
+                -0.46844708919525146,
+                0.19075052440166473
+            ],
+            "ee_pos": [
+                0.21512337028980255,
+                0.15389245748519897,
+                0.08900287747383118
+            ],
+            "ee_quat_wxyz": [
+                0.9862005114555359,
+                0.017376767471432686,
+                -0.12628981471061707,
+                0.10562871396541595
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12791961431503296,
+                -0.14484134316444397,
+                -0.13967613875865936,
+                0.05396496504545212,
+                0.08559133857488632,
+                0.17727449536323547,
+                0.10591370612382889
+            ],
+            "ee_pos": [
+                0.27303242683410645,
+                -0.19887107610702515,
+                0.10573188215494156
+            ],
+            "ee_quat_wxyz": [
+                0.9987842440605164,
+                -0.01600506342947483,
+                0.04632432758808136,
+                -0.005279431585222483
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7290379186694125
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528080463409424,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1285258531570435,
+                -0.07311975210905075,
+                0.19601717591285706,
+                0.5040916204452515,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05927253141999245,
+                -0.0028547290712594986,
+                -0.07112151384353638,
+                0.1311553567647934,
+                -0.05969342589378357,
+                0.010929613374173641,
+                0.09187106788158417,
+                0.11359847337007523,
+                -0.46843940019607544,
+                0.1907658576965332,
+                -0.12660135328769684,
+                -0.14482936263084412,
+                -0.1395922601222992,
+                0.05259876325726509,
+                0.08562728762626648,
+                0.17681430280208588,
+                0.10582934319972992,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1417623970467648,
+                -0.07090395164999289,
+                0.0033181286242696005,
+                0.08445403789934627,
+                0.11989833935013289,
+                -0.46424233845936513,
+                0.1943862262160621
+            ],
+            "target_pos": [
+                0.21321932971477509,
+                0.14989285171031952,
+                0.08675353229045868
+            ],
+            "target_quat_wxyz": [
+                0.9854021668434143,
+                0.015927331522107124,
+                -0.13049697875976562,
+                0.108163982629776
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10443431526701805,
+                -0.1484566317329104,
+                -0.1400772366084508,
+                0.01522063914873068,
+                0.08372452882826287,
+                0.16340581546970567,
+                0.10221379307420506
+            ],
+            "target_pos": [
+                0.26654788851737976,
+                -0.199819415807724,
+                0.11341623961925507
+            ],
+            "target_quat_wxyz": [
+                0.999309241771698,
+                -0.022046716883778572,
+                0.029264532029628754,
+                -0.006214795634150505
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.330222227573395
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000108_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 109,
+    "colors": {
+        "color_0": "colors/000109_color_0.jpg",
+        "color_2": "colors/000109_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1311313956975937,
+                -0.05969342589378357,
+                0.010641992092132568,
+                0.09188305586576462,
+                0.11363442242145538,
+                -0.46844708919525146,
+                0.190811887383461
+            ],
+            "ee_pos": [
+                0.21512362360954285,
+                0.1538209617137909,
+                0.08899932354688644
+            ],
+            "ee_quat_wxyz": [
+                0.9862147569656372,
+                0.017346592620015144,
+                -0.1262839436531067,
+                0.10550801455974579
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1194707378745079,
+                -0.14482936263084412,
+                -0.1384417712688446,
+                0.04163319990038872,
+                0.08519585430622101,
+                0.17512692511081696,
+                0.10570662468671799
+            ],
+            "ee_pos": [
+                0.27144941687583923,
+                -0.1988559067249298,
+                0.10654173046350479
+            ],
+            "ee_quat_wxyz": [
+                0.9988992214202881,
+                -0.01713891699910164,
+                0.04335066303610802,
+                -0.005226389970630407
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528616905212402,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1286463737487793,
+                -0.07310270518064499,
+                0.1960037797689438,
+                0.5040916204452515,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.05948679894208908,
+                -0.002900403691455722,
+                -0.07107146084308624,
+                0.1311074197292328,
+                -0.05969342589378357,
+                0.010630007833242416,
+                0.09187106788158417,
+                0.11364641040563583,
+                -0.46844708919525146,
+                0.19081954658031464,
+                -0.11810453981161118,
+                -0.14476944506168365,
+                -0.1381901055574417,
+                0.039619848132133484,
+                0.08515990525484085,
+                0.1748354732990265,
+                0.10569128394126892,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14050262165545102,
+                -0.07122407033896169,
+                0.0027212475456828925,
+                0.08578431656492827,
+                0.12020914703702942,
+                -0.464312117809687,
+                0.19455767376951705
+            ],
+            "target_pos": [
+                0.21347282826900482,
+                0.1496061235666275,
+                0.08669309318065643
+            ],
+            "target_quat_wxyz": [
+                0.9854165315628052,
+                0.015856875106692314,
+                -0.13063105940818787,
+                0.10788105428218842
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09760648173215372,
+                -0.14731902998933202,
+                -0.13769635408418301,
+                -0.002565906175310561,
+                0.08328819955259002,
+                0.16247535821651352,
+                0.10188169036934419
+            ],
+            "target_pos": [
+                0.2650241553783417,
+                -0.19891901314258575,
+                0.11612431704998016
+            ],
+            "target_quat_wxyz": [
+                0.9994484782218933,
+                -0.02271088771522045,
+                0.023687735199928284,
+                -0.005086502060294151
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3293333387374875
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000109_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 110,
+    "colors": {
+        "color_0": "colors/000110_color_0.jpg",
+        "color_2": "colors/000110_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13105948269367218,
+                -0.05970541015267372,
+                0.010078733786940575,
+                0.09189503639936447,
+                0.11383815854787827,
+                -0.46843940019607544,
+                0.19077353179454803
+            ],
+            "ee_pos": [
+                0.21515071392059326,
+                0.15366877615451813,
+                0.08901919424533844
+            ],
+            "ee_quat_wxyz": [
+                0.9862436056137085,
+                0.017363235354423523,
+                -0.12633287906646729,
+                0.1051763966679573
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11164504289627075,
+                -0.14463761448860168,
+                -0.13668008148670197,
+                0.026808712631464005,
+                0.08490823209285736,
+                0.17399178445339203,
+                0.10544584691524506
+            ],
+            "ee_pos": [
+                0.270007848739624,
+                -0.19854898750782013,
+                0.10797867178916931
+            ],
+            "ee_quat_wxyz": [
+                0.9990463256835938,
+                -0.018262552097439766,
+                0.03937939181923866,
+                -0.004710891749709845
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0529553890228271,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1287802457809448,
+                -0.07310270518064499,
+                0.1960037797689438,
+                0.504040539264679,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.05980820581316948,
+                -0.0028775660321116447,
+                -0.0709962546825409,
+                0.13105948269367218,
+                -0.05970541015267372,
+                0.010078733786940575,
+                0.09189503639936447,
+                0.11383815854787827,
+                -0.46843940019607544,
+                0.19077353179454803,
+                -0.11164504289627075,
+                -0.14463761448860168,
+                -0.13668008148670197,
+                0.026808712631464005,
+                0.08490823209285736,
+                0.17399178445339203,
+                0.10544584691524506,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14067281428824546,
+                -0.07130302353692833,
+                0.0020963141310038932,
+                0.08558875284960782,
+                0.11997224137692103,
+                -0.4644204857011148,
+                0.19413041389298136
+            ],
+            "target_pos": [
+                0.21295857429504395,
+                0.14963476359844208,
+                0.08686278015375137
+            ],
+            "target_quat_wxyz": [
+                0.9854902029037476,
+                0.015464160591363907,
+                -0.1306462436914444,
+                0.10724491626024246
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08920237490572269,
+                -0.14574490947887384,
+                -0.1350248369796753,
+                -0.02389100148847975,
+                0.0833854757631021,
+                0.16242118283152418,
+                0.10151846920979013
+            ],
+            "target_pos": [
+                0.2627323269844055,
+                -0.19764399528503418,
+                0.11930391937494278
+            ],
+            "target_quat_wxyz": [
+                0.9995827674865723,
+                -0.0227467343211174,
+                0.017375249415636063,
+                -0.003875221125781536
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3320000052452086
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000110_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 111,
+    "colors": {
+        "color_0": "colors/000111_color_0.jpg",
+        "color_2": "colors/000111_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13101154565811157,
+                -0.05969342589378357,
+                0.00938364863395691,
+                0.09189503639936447,
+                0.11422164738178253,
+                -0.46844708919525146,
+                0.19075818359851837
+            ],
+            "ee_pos": [
+                0.21517521142959595,
+                0.15348391234874725,
+                0.08904124796390533
+            ],
+            "ee_quat_wxyz": [
+                0.9862779378890991,
+                0.017458418384194374,
+                -0.1263953447341919,
+                0.10476263612508774
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10403505712747574,
+                -0.14458967745304108,
+                -0.13556554913520813,
+                0.009407617151737213,
+                0.08463259786367416,
+                0.17280294001102448,
+                0.105016328394413
+            ],
+            "ee_pos": [
+                0.26858973503112793,
+                -0.19833411276340485,
+                0.11011524498462677
+            ],
+            "ee_quat_wxyz": [
+                0.9992219805717468,
+                -0.019555196166038513,
+                0.03396102041006088,
+                -0.004433672875165939
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0528883934020996,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1287400722503662,
+                -0.07310270518064499,
+                0.19601717591285706,
+                0.5041086673736572,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05996890738606453,
+                -0.0028775616083294153,
+                -0.07100627571344376,
+                0.13103552162647247,
+                -0.05969342589378357,
+                0.009215869009494781,
+                0.09185908734798431,
+                0.11434148997068405,
+                -0.46846240758895874,
+                0.19075818359851837,
+                -0.10269282758235931,
+                -0.14458967745304108,
+                -0.13554158806800842,
+                0.006603308022022247,
+                0.08462061733007431,
+                0.17261886596679688,
+                0.104878269135952,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1407680131334261,
+                -0.07120864733212634,
+                0.0014500857677871,
+                0.08558373411521328,
+                0.11988030408659314,
+                -0.46457278478238206,
+                0.19368628740331498
+            ],
+            "target_pos": [
+                0.213096022605896,
+                0.14945565164089203,
+                0.08679173141717911
+            ],
+            "target_quat_wxyz": [
+                0.9855543375015259,
+                0.015598680824041367,
+                -0.13069304823875427,
+                0.10657716542482376
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08072957359305843,
+                -0.14402648911705548,
+                -0.13253854923671413,
+                -0.046593952607595905,
+                0.08431344906972421,
+                0.1623301701109522,
+                0.10164585574537582
+            ],
+            "target_pos": [
+                0.2609865665435791,
+                -0.19651973247528076,
+                0.12268064171075821
+            ],
+            "target_quat_wxyz": [
+                0.9997006058692932,
+                -0.02225942350924015,
+                0.009983516298234463,
+                -0.00187946658115834
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3337777829170223
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000111_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 112,
+    "colors": {
+        "color_0": "colors/000112_color_0.jpg",
+        "color_2": "colors/000112_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13103552162647247,
+                -0.05969342589378357,
+                0.008832373656332493,
+                0.09189503639936447,
+                0.11459316313266754,
+                -0.4684547483921051,
+                0.19075818359851837
+            ],
+            "ee_pos": [
+                0.21518166363239288,
+                0.1533370167016983,
+                0.08904648572206497
+            ],
+            "ee_quat_wxyz": [
+                0.9863075613975525,
+                0.017564311623573303,
+                -0.12641823291778564,
+                0.1044381633400917
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0963052362203598,
+                -0.14455372095108032,
+                -0.13451094925403595,
+                -0.012140019796788692,
+                0.08472847193479538,
+                0.17142236232757568,
+                0.10447943955659866
+            ],
+            "ee_pos": [
+                0.26712560653686523,
+                -0.19800347089767456,
+                0.11321486532688141
+            ],
+            "ee_quat_wxyz": [
+                0.999423623085022,
+                -0.0209204088896513,
+                0.026434767991304398,
+                -0.00399596756324172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527143478393555,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.2622595727443695,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1286998987197876,
+                -0.07310270518064499,
+                0.1959903985261917,
+                0.504125714302063,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05996890738606453,
+                -0.0028699515387415886,
+                -0.07101127505302429,
+                0.13103552162647247,
+                -0.05969342589378357,
+                0.008748484775424004,
+                0.09189503639936447,
+                0.11470101773738861,
+                -0.4684547483921051,
+                0.19078120589256287,
+                -0.09497498720884323,
+                -0.14454174041748047,
+                -0.13441507518291473,
+                -0.015399729833006859,
+                0.08480037748813629,
+                0.17132265865802765,
+                0.1043720617890358,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14077865303347256,
+                -0.07093557113880002,
+                0.0007805417890026946,
+                0.08593609995766277,
+                0.12005827820789436,
+                -0.4647629335908353,
+                0.19323880119840778
+            ],
+            "target_pos": [
+                0.2132006287574768,
+                0.14928506314754486,
+                0.08662042766809464
+            ],
+            "target_quat_wxyz": [
+                0.9856420159339905,
+                0.016066379845142365,
+                -0.13058315217494965,
+                0.10582873970270157
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07190260760182739,
+                -0.1420523842006148,
+                -0.13003195479864837,
+                -0.07085819587563057,
+                0.08624558742485955,
+                0.16138085510814676,
+                0.1025129307502813
+            ],
+            "target_pos": [
+                0.25896185636520386,
+                -0.19515351951122284,
+                0.12640103697776794
+            ],
+            "target_quat_wxyz": [
+                0.9997722506523132,
+                -0.0212994497269392,
+                0.0007494318997487426,
+                0.001104719820432365
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.333333338499069
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000112_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 113,
+    "colors": {
+        "color_0": "colors/000113_color_0.jpg",
+        "color_2": "colors/000113_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13102354109287262,
+                -0.05969342589378357,
+                0.007873635739088058,
+                0.09189503639936447,
+                0.11501260846853256,
+                -0.46846240758895874,
+                0.19066615402698517
+            ],
+            "ee_pos": [
+                0.21520426869392395,
+                0.1530836671590805,
+                0.0890645980834961
+            ],
+            "ee_quat_wxyz": [
+                0.9863601922988892,
+                0.017644476145505905,
+                -0.12647251784801483,
+                0.10385999828577042
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08706539869308472,
+                -0.14439792931079865,
+                -0.13313275575637817,
+                -0.03658783808350563,
+                0.08490823209285736,
+                0.16945886611938477,
+                0.10431069880723953
+            ],
+            "ee_pos": [
+                0.26531845331192017,
+                -0.1975497454404831,
+                0.1166473776102066
+            ],
+            "ee_quat_wxyz": [
+                0.9995831251144409,
+                -0.02239311672747135,
+                0.017937926575541496,
+                -0.0032180570997297764
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525938272476196,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26223400235176086,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128686547279358,
+                -0.07308565825223923,
+                0.19596360623836517,
+                0.5041512846946716,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06000908464193344,
+                -0.002862342167645693,
+                -0.07104635238647461,
+                0.13102354109287262,
+                -0.05969342589378357,
+                0.007789746392518282,
+                0.09187106788158417,
+                0.11509650200605392,
+                -0.4684547483921051,
+                0.19068148732185364,
+                -0.0857710987329483,
+                -0.14430205523967743,
+                -0.13296498358249664,
+                -0.039200399070978165,
+                0.08496815711259842,
+                0.16908304393291473,
+                0.10431069880723953,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14057351109934774,
+                -0.07059543481617651,
+                0.0001172796277995522,
+                0.08661401029929214,
+                0.12024746377188467,
+                -0.4647180906748997,
+                0.1928076318723742
+            ],
+            "target_pos": [
+                0.21332567930221558,
+                0.14912845194339752,
+                0.08645079284906387
+            ],
+            "target_quat_wxyz": [
+                0.9857646822929382,
+                0.016202738508582115,
+                -0.13017712533473969,
+                0.1051638275384903
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.06253296785295175,
+                -0.14017967675056714,
+                -0.1271649862646756,
+                -0.09636000035537358,
+                0.09005379804676689,
+                0.15925360188431922,
+                0.10579657038138399
+            ],
+            "target_pos": [
+                0.25670140981674194,
+                -0.1935032606124878,
+                0.13022825121879578
+            ],
+            "target_quat_wxyz": [
+                0.9997485876083374,
+                -0.01909256912767887,
+                -0.00923565961420536,
+                0.007276133168488741
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.343111115694046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000113_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 114,
+    "colors": {
+        "color_0": "colors/000114_color_0.jpg",
+        "color_2": "colors/000114_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13102354109287262,
+                -0.05969342589378357,
+                0.007406251039355993,
+                0.09189503639936447,
+                0.1152283251285553,
+                -0.46847009658813477,
+                0.19064314663410187
+            ],
+            "ee_pos": [
+                0.21521368622779846,
+                0.15296106040477753,
+                0.08907268196344376
+            ],
+            "ee_quat_wxyz": [
+                0.9863846898078918,
+                0.017687669023871422,
+                -0.12649878859519958,
+                0.10358767956495285
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07674697786569595,
+                -0.14387062191963196,
+                -0.13129916787147522,
+                -0.061287328600883484,
+                0.08565125614404678,
+                0.16708119213581085,
+                0.104740209877491
+            ],
+            "ee_pos": [
+                0.2632535696029663,
+                -0.19692188501358032,
+                0.11988045275211334
+            ],
+            "ee_quat_wxyz": [
+                0.9996766448020935,
+                -0.023447128012776375,
+                0.009642384015023708,
+                -0.001957360887899995
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.05229914188385,
+                -0.1274346113204956,
+                -0.0025712440256029367,
+                0.2622510492801666,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1285392045974731,
+                -0.07311122864484787,
+                0.19596360623836517,
+                0.5042024254798889,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0599822998046875,
+                -0.0028318921104073524,
+                -0.07106634974479675,
+                0.13107147812843323,
+                -0.05969342589378357,
+                0.007430219557136297,
+                0.09188305586576462,
+                0.11521634459495544,
+                -0.4684777557849884,
+                0.19071216881275177,
+                -0.07565641403198242,
+                -0.14375078678131104,
+                -0.1308797299861908,
+                -0.0646548941731453,
+                0.08569919317960739,
+                0.16664400696754456,
+                0.10477856546640396,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14027399099999732,
+                -0.0703535287098543,
+                -0.0003727464601119538,
+                0.087415803041927,
+                0.12023305600504278,
+                -0.4645118528219647,
+                0.1924443461444152
+            ],
+            "target_pos": [
+                0.21334123611450195,
+                0.14908625185489655,
+                0.08632073551416397
+            ],
+            "target_quat_wxyz": [
+                0.9858546853065491,
+                0.01596928760409355,
+                -0.1297636777162552,
+                0.10486631840467453
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05182760710307261,
+                -0.13857939429273328,
+                -0.12385222627146958,
+                -0.12351014427178383,
+                0.09736929131951316,
+                0.15486999304718152,
+                0.11333520931180929
+            ],
+            "target_pos": [
+                0.2537575364112854,
+                -0.19154112040996552,
+                0.13439401984214783
+            ],
+            "target_quat_wxyz": [
+                0.9995076656341553,
+                -0.01453612744808197,
+                -0.02149932272732258,
+                0.01763151027262211
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.343111115694046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000114_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 115,
+    "colors": {
+        "color_0": "colors/000115_color_0.jpg",
+        "color_2": "colors/000115_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13101154565811157,
+                -0.05965747311711311,
+                0.007154582533985376,
+                0.09189503639936447,
+                0.1152283251285553,
+                -0.46844708919525146,
+                0.19064314663410187
+            ],
+            "ee_pos": [
+                0.21522118151187897,
+                0.15290628373622894,
+                0.08907639980316162
+            ],
+            "ee_quat_wxyz": [
+                0.9863977432250977,
+                0.01767333224415779,
+                -0.12650266289710999,
+                0.10346129536628723
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.06801047921180725,
+                -0.14310362935066223,
+                -0.12863866984844208,
+                -0.08554340153932571,
+                0.08845556527376175,
+                0.16566993296146393,
+                0.10755506902933121
+            ],
+            "ee_pos": [
+                0.261455237865448,
+                -0.19578097760677338,
+                0.12329384684562683
+            ],
+            "ee_quat_wxyz": [
+                0.9997267723083496,
+                -0.023306479677557945,
+                0.0012567044468596578,
+                0.0012623268412426114
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522857904434204,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1285526752471924,
+                -0.07309418171644211,
+                0.19596360623836517,
+                0.5042109489440918,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0599822998046875,
+                -0.0028166670817881823,
+                -0.07107635587453842,
+                0.13104750216007233,
+                -0.05964548885822296,
+                0.007130614016205072,
+                0.09188305586576462,
+                0.11531221866607666,
+                -0.4684547483921051,
+                0.1906047910451889,
+                -0.06700380146503448,
+                -0.1429598182439804,
+                -0.12842296063899994,
+                -0.08765262365341187,
+                0.08891096711158752,
+                0.1653861403465271,
+                0.10777749866247177,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14025840978136178,
+                -0.07016360799351937,
+                -0.0007576906464564072,
+                0.0879221982212901,
+                0.12003544508120918,
+                -0.4643781510625279,
+                0.19205864998231253
+            ],
+            "target_pos": [
+                0.2132725715637207,
+                0.14905934035778046,
+                0.08623013645410538
+            ],
+            "target_quat_wxyz": [
+                0.9859104156494141,
+                0.01586713083088398,
+                -0.1295916587114334,
+                0.10457011312246323
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03824595887535224,
+                -0.13759367581526244,
+                -0.11959735241517364,
+                -0.1521138695177074,
+                0.10996263473580481,
+                0.14449844612680843,
+                0.12831432667606665
+            ],
+            "target_pos": [
+                0.24977564811706543,
+                -0.18912458419799805,
+                0.13853392004966736
+            ],
+            "target_quat_wxyz": [
+                0.9985888004302979,
+                -0.007841295562684536,
+                -0.03894023224711418,
+                0.03524952754378319
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3355555605888365
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000115_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 116,
+    "colors": {
+        "color_0": "colors/000116_color_0.jpg",
+        "color_2": "colors/000116_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13104750216007233,
+                -0.05963350459933281,
+                0.006339655257761478,
+                0.09190702438354492,
+                0.11531221866607666,
+                -0.46846240758895874,
+                0.1906277984380722
+            ],
+            "ee_pos": [
+                0.21522833406925201,
+                0.15271243453025818,
+                0.08907867223024368
+            ],
+            "ee_quat_wxyz": [
+                0.9864398837089539,
+                0.017624087631702423,
+                -0.12651748955249786,
+                0.1030491515994072
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.056050222367048264,
+                -0.14185728132724762,
+                -0.12595421075820923,
+                -0.11468903720378876,
+                0.09771937131881714,
+                0.1609836220741272,
+                0.11595361679792404
+            ],
+            "ee_pos": [
+                0.25892186164855957,
+                -0.19421163201332092,
+                0.12734775245189667
+            ],
+            "ee_quat_wxyz": [
+                0.9997159838676453,
+                -0.020249173045158386,
+                -0.009872370399534702,
+                0.00777708925306797
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052325963973999,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.26223400235176086,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1285526752471924,
+                -0.07308565825223923,
+                0.19593682885169983,
+                0.5042279958724976,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.0599822998046875,
+                -0.0027938266284763813,
+                -0.0710713118314743,
+                0.13104750216007233,
+                -0.05965747311711311,
+                0.0062797339633107185,
+                0.09193099290132523,
+                0.1152762621641159,
+                -0.46846240758895874,
+                0.19064314663410187,
+                -0.054863784462213516,
+                -0.14174941182136536,
+                -0.1258343607187271,
+                -0.1170499250292778,
+                0.09817477315664291,
+                0.16023963689804077,
+                0.1166822537779808,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14050496771840537,
+                -0.06990343080009305,
+                -0.001143453730437352,
+                0.08826986135890971,
+                0.11962239092684498,
+                -0.46442892852478923,
+                0.19159161901221608
+            ],
+            "target_pos": [
+                0.21316134929656982,
+                0.14905212819576263,
+                0.08608625084161758
+            ],
+            "target_quat_wxyz": [
+                0.985984206199646,
+                0.01576654054224491,
+                -0.12942147254943848,
+                0.10409941524267197
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.02173113454945385,
+                -0.1383930234675324,
+                -0.11360988396684663,
+                -0.18034182823704992,
+                0.12718488573501235,
+                0.12754957852955148,
+                0.15189800963965894
+            ],
+            "target_pos": [
+                0.24532932043075562,
+                -0.1864013373851776,
+                0.1419503390789032
+            ],
+            "target_quat_wxyz": [
+                0.996634304523468,
+                -0.0023200877476483583,
+                -0.057305317372083664,
+                0.058572642505168915
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.331555560827255
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000116_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 117,
+    "colors": {
+        "color_0": "colors/000117_color_0.jpg",
+        "color_2": "colors/000117_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13096360862255096,
+                -0.059597551822662354,
+                0.0055367122404277325,
+                0.09193099290132523,
+                0.11536015570163727,
+                -0.4684777557849884,
+                0.19052042067050934
+            ],
+            "ee_pos": [
+                0.2152608036994934,
+                0.1525132656097412,
+                0.08910268545150757
+            ],
+            "ee_quat_wxyz": [
+                0.9864809513092041,
+                0.017563343048095703,
+                -0.12658150494098663,
+                0.10258623957633972
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04268781095743179,
+                -0.14131797850131989,
+                -0.12365323305130005,
+                -0.14324744045734406,
+                0.11030280590057373,
+                0.1510280817747116,
+                0.1306031346321106
+            ],
+            "ee_pos": [
+                0.25600719451904297,
+                -0.19258777797222137,
+                0.13151244819164276
+            ],
+            "ee_quat_wxyz": [
+                0.9994556307792664,
+                -0.01629716344177723,
+                -0.022816067561507225,
+                0.017384840175509453
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0523661375045776,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1285526752471924,
+                -0.07310270518064499,
+                0.19593682885169983,
+                0.5042365193367004,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06000908464193344,
+                -0.002869955264031887,
+                -0.07115160673856735,
+                0.13096360862255096,
+                -0.059597551822662354,
+                0.005392901133745909,
+                0.09189503639936447,
+                0.11546801030635834,
+                -0.46848541498184204,
+                0.1905127465724945,
+                -0.03997937589883804,
+                -0.1413419544696808,
+                -0.12332966178655624,
+                -0.14733406901359558,
+                0.11272362619638443,
+                0.14845867455005646,
+                0.1334870159626007,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14077970809184978,
+                -0.06967442338705492,
+                -0.0014313030366681276,
+                0.0886544975156319,
+                0.11924821894015561,
+                -0.46467800421078087,
+                0.19135136078429282
+            ],
+            "target_pos": [
+                0.21311479806900024,
+                0.14905862510204315,
+                0.08594880253076553
+            ],
+            "target_quat_wxyz": [
+                0.9859946966171265,
+                0.015704026445746422,
+                -0.12935005128383636,
+                0.10409806668758392
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.003655134946700251,
+                -0.14174587062567803,
+                -0.10489113324127805,
+                -0.20685053552848495,
+                0.14479244606503666,
+                0.10904847341297473,
+                0.18112269128729427
+            ],
+            "target_pos": [
+                0.24110466241836548,
+                -0.18318484723567963,
+                0.14434847235679626
+            ],
+            "target_quat_wxyz": [
+                0.9941403865814209,
+                -0.0010963870445266366,
+                -0.06927978247404099,
+                0.08296976238489151
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.324000005722046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000117_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 118,
+    "colors": {
+        "color_0": "colors/000118_color_0.jpg",
+        "color_2": "colors/000118_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13102354109287262,
+                -0.0595615990459919,
+                0.005009406246244907,
+                0.09196694195270538,
+                0.11538412421941757,
+                -0.46843940019607544,
+                0.19052809476852417
+            ],
+            "ee_pos": [
+                0.21525788307189941,
+                0.1523955762386322,
+                0.08908569812774658
+            ],
+            "ee_quat_wxyz": [
+                0.9865134954452515,
+                0.017531201243400574,
+                -0.12653566896915436,
+                0.10233550518751144
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.027959197759628296,
+                -0.14149774610996246,
+                -0.11907526105642319,
+                -0.1693970263004303,
+                0.125858336687088,
+                0.1350286602973938,
+                0.15301458537578583
+            ],
+            "ee_pos": [
+                0.2527764141559601,
+                -0.19025325775146484,
+                0.13537418842315674
+            ],
+            "ee_quat_wxyz": [
+                0.9987370371818542,
+                -0.011718735098838806,
+                -0.03692898154258728,
+                0.031988974660634995
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052352786064148,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1284053325653076,
+                -0.07309418171644211,
+                0.19593682885169983,
+                0.5042024254798889,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0599822998046875,
+                -0.002869954565539956,
+                -0.07113155722618103,
+                0.13104750216007233,
+                -0.0595615990459919,
+                0.004985437728464603,
+                0.09195496141910553,
+                0.11537213623523712,
+                -0.4684547483921051,
+                0.1905817836523056,
+                -0.026101643219590187,
+                -0.14155766367912292,
+                -0.11847604811191559,
+                -0.17205752432346344,
+                0.1275840550661087,
+                0.13331827521324158,
+                0.15605954825878143,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14106402133955354,
+                -0.06949098827170785,
+                -0.001614419789179155,
+                0.0890231512378108,
+                0.11879489803644726,
+                -0.46497936774580645,
+                0.19121629011588304
+            ],
+            "target_pos": [
+                0.2130480408668518,
+                0.14910726249217987,
+                0.08583173900842667
+            ],
+            "target_quat_wxyz": [
+                0.9860113859176636,
+                0.015439942479133606,
+                -0.12921270728111267,
+                0.1041501984000206
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.01299427832335365,
+                -0.14681402348040923,
+                -0.09457265752288554,
+                -0.22824305889844093,
+                0.15712281864505323,
+                0.09237491225734355,
+                0.20864344150559047
+            ],
+            "target_pos": [
+                0.23826360702514648,
+                -0.18054653704166412,
+                0.14542266726493835
+            ],
+            "target_quat_wxyz": [
+                0.9922255277633667,
+                -0.004804038908332586,
+                -0.07516013830900192,
+                0.09907735139131546
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3128888952732085
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000118_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 119,
+    "colors": {
+        "color_0": "colors/000119_color_0.jpg",
+        "color_2": "colors/000119_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13098758459091187,
+                -0.0595615990459919,
+                0.0047098007053136826,
+                0.09194297343492508,
+                0.11534816771745682,
+                -0.4684547483921051,
+                0.19059711694717407
+            ],
+            "ee_pos": [
+                0.21526993811130524,
+                0.15232673287391663,
+                0.08910351991653442
+            ],
+            "ee_quat_wxyz": [
+                0.9865198731422424,
+                0.01746838539838791,
+                -0.12658140063285828,
+                0.10222764313220978
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.01362606417387724,
+                -0.14209695160388947,
+                -0.11152520030736923,
+                -0.19360515475273132,
+                0.14117416739463806,
+                0.11988060176372528,
+                0.17814119160175323
+            ],
+            "ee_pos": [
+                0.2495771199464798,
+                -0.18717551231384277,
+                0.1387653350830078
+            ],
+            "ee_quat_wxyz": [
+                0.9975184202194214,
+                -0.007483267225325108,
+                -0.049696654081344604,
+                0.04930725693702698
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0524464845657349,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.128391981124878,
+                -0.07307714223861694,
+                0.1959100365638733,
+                0.5041853785514832,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06014300510287285,
+                -0.002869950607419014,
+                -0.07116162776947021,
+                0.13102354109287262,
+                -0.0595615990459919,
+                0.004697816446423531,
+                0.09195496141910553,
+                0.11540809273719788,
+                -0.46844708919525146,
+                0.1904897391796112,
+                -0.010737866163253784,
+                -0.1422647386789322,
+                -0.10984741151332855,
+                -0.1971524953842163,
+                0.14274410903453827,
+                0.11668992787599564,
+                0.18275848031044006,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14036952126860225,
+                -0.06984706248365694,
+                -0.0020182277488824413,
+                0.08917754461238131,
+                0.11883961993222397,
+                -0.46449456048292437,
+                0.1916219399976581
+            ],
+            "target_pos": [
+                0.21357715129852295,
+                0.14860466122627258,
+                0.08620420843362808
+            ],
+            "target_quat_wxyz": [
+                0.9859875440597534,
+                0.015089824795722961,
+                -0.12938503921031952,
+                0.10421331971883774
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.027994459515388287,
+                -0.15387382861295584,
+                -0.08254374980162199,
+                -0.2458869443031321,
+                0.16470410323256823,
+                0.07707728823719022,
+                0.23546153398946934
+            ],
+            "target_pos": [
+                0.23531723022460938,
+                -0.17748862504959106,
+                0.14667776226997375
+            ],
+            "target_quat_wxyz": [
+                0.9894626140594482,
+                -0.010293522849678993,
+                -0.08202145993709564,
+                0.11887075006961823
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3137777841091154
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000119_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 120,
+    "colors": {
+        "color_0": "colors/000120_color_0.jpg",
+        "color_2": "colors/000120_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13102354109287262,
+                -0.059537630528211594,
+                0.003894873196259141,
+                0.09196694195270538,
+                0.11537213623523712,
+                -0.46844708919525146,
+                0.19052809476852417
+            ],
+            "ee_pos": [
+                0.21527734398841858,
+                0.1521327942609787,
+                0.08910059183835983
+            ],
+            "ee_quat_wxyz": [
+                0.9865661263465881,
+                0.01739567704498768,
+                -0.12657637894153595,
+                0.10179915279150009
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0036192359402775764,
+                -0.14432603120803833,
+                -0.09865414351224899,
+                -0.21715416014194489,
+                0.15276291966438293,
+                0.10144215822219849,
+                0.20522363483905792
+            ],
+            "ee_pos": [
+                0.24580135941505432,
+                -0.1832164078950882,
+                0.14151185750961304
+            ],
+            "ee_quat_wxyz": [
+                0.9956521987915039,
+                -0.005978142376989126,
+                -0.06175855174660683,
+                0.06947552412748337
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522857904434204,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.2622510492801666,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.128271460533142,
+                -0.07311975210905075,
+                0.19586986303329468,
+                0.5042279958724976,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06045101583003998,
+                -0.003060273127630353,
+                -0.07130724936723709,
+                0.13103552162647247,
+                -0.059537630528211594,
+                0.003882888937368989,
+                0.09195496141910553,
+                0.11534816771745682,
+                -0.46844708919525146,
+                0.1905817836523056,
+                0.005944175645709038,
+                -0.14476944506168365,
+                -0.09673666954040527,
+                -0.21938322484493256,
+                0.1536976844072342,
+                0.09880370646715164,
+                0.20857538282871246,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13974355887096515,
+                -0.07059434163861775,
+                -0.0028139357212967234,
+                0.08950703084041717,
+                0.11934759155124927,
+                -0.4644416944961033,
+                0.1924171718233985
+            ],
+            "target_pos": [
+                0.21360106766223907,
+                0.1480562686920166,
+                0.08616030216217041
+            ],
+            "target_quat_wxyz": [
+                0.9859493970870972,
+                0.014824478887021542,
+                -0.12975604832172394,
+                0.10415077954530716
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.04244280865183994,
+                -0.16185713224536102,
+                -0.06950669255162228,
+                -0.2600036061405594,
+                0.1694662341141645,
+                0.06199433028411951,
+                0.2615130299870476
+            ],
+            "target_pos": [
+                0.23209507763385773,
+                -0.17454157769680023,
+                0.1469045877456665
+            ],
+            "target_quat_wxyz": [
+                0.9863848090171814,
+                -0.01452119741588831,
+                -0.08735597878694534,
+                0.1385749876499176
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.31822222828865
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000120_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 121,
+    "colors": {
+        "color_0": "colors/000121_color_0.jpg",
+        "color_2": "colors/000121_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13096360862255096,
+                -0.05952564626932144,
+                0.003032008884474635,
+                0.09195496141910553,
+                0.11539610475301743,
+                -0.46843940019607544,
+                0.19052809476852417
+            ],
+            "ee_pos": [
+                0.215305358171463,
+                0.15192344784736633,
+                0.08912618458271027
+            ],
+            "ee_quat_wxyz": [
+                0.9866040945053101,
+                0.017299514263868332,
+                -0.1266365498304367,
+                0.101372130215168
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.019174760207533836,
+                -0.1478014439344406,
+                -0.0851718857884407,
+                -0.2353701889514923,
+                0.15936622023582458,
+                0.08584924042224884,
+                0.2337556779384613
+            ],
+            "ee_pos": [
+                0.24236077070236206,
+                -0.17934176325798035,
+                0.1431671380996704
+            ],
+            "ee_quat_wxyz": [
+                0.9934312105178833,
+                -0.006922569125890732,
+                -0.07016674429178238,
+                0.09012831747531891
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052125096321106,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.1957627236843109,
+                0.5042194724082947,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06051797792315483,
+                -0.003090724814683199,
+                -0.07134738564491272,
+                0.13096360862255096,
+                -0.05951366201043129,
+                0.0027923244051635265,
+                0.09195496141910553,
+                0.11539610475301743,
+                -0.46844708919525146,
+                0.19056645035743713,
+                0.021283984184265137,
+                -0.1483047902584076,
+                -0.08317052572965622,
+                -0.23710790276527405,
+                0.15970177948474884,
+                0.08365564793348312,
+                0.2368696630001068,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1387109511913246,
+                -0.0714012054605475,
+                -0.0036418808283025495,
+                0.09048427480798496,
+                0.11994332213021044,
+                -0.46461744655593706,
+                0.19340213414417073
+            ],
+            "target_pos": [
+                0.21391397714614868,
+                0.14768186211585999,
+                0.08603058755397797
+            ],
+            "target_quat_wxyz": [
+                0.9859205484390259,
+                0.01454340759664774,
+                -0.1299874186515808,
+                0.10417499393224716
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05596876048124526,
+                -0.16995158339791275,
+                -0.056271138860199695,
+                -0.27049011123691363,
+                0.17183754645550453,
+                0.046324626807512384,
+                0.2874882972099424
+            ],
+            "target_pos": [
+                0.2292616367340088,
+                -0.171678364276886,
+                0.14655791223049164
+            ],
+            "target_quat_wxyz": [
+                0.9830354452133179,
+                -0.019633211195468903,
+                -0.09160665422677994,
+                0.15768352150917053
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3337777829170223
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000121_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 122,
+    "colors": {
+        "color_0": "colors/000122_color_0.jpg",
+        "color_2": "colors/000122_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1308797299861908,
+                -0.059489693492650986,
+                0.0010426276130601764,
+                0.09197892993688583,
+                0.11540809273719788,
+                -0.46844708919525146,
+                0.19054342806339264
+            ],
+            "ee_pos": [
+                0.21535620093345642,
+                0.15144717693328857,
+                0.08916451781988144
+            ],
+            "ee_quat_wxyz": [
+                0.9866942763328552,
+                0.01706434041261673,
+                -0.12673528492450714,
+                0.10040602087974548
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.03474226966500282,
+                -0.15218767523765564,
+                -0.07218098640441895,
+                -0.24922394752502441,
+                0.1627817302942276,
+                0.06971943378448486,
+                0.26135966181755066
+            ],
+            "ee_pos": [
+                0.23893924057483673,
+                -0.17593705654144287,
+                0.14389273524284363
+            ],
+            "ee_quat_wxyz": [
+                0.9909961223602295,
+                -0.009453057311475277,
+                -0.07641185075044632,
+                0.10953765362501144
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051924228668213,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282044649124146,
+                -0.07309418171644211,
+                0.19570916891098022,
+                0.5042620897293091,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.06018317863345146,
+                -0.003060279181227088,
+                -0.07153777778148651,
+                0.1308557540178299,
+                -0.059477709233760834,
+                0.0008269115351140499,
+                0.09195496141910553,
+                0.11540809273719788,
+                -0.46844708919525146,
+                0.19054342806339264,
+                0.03687546029686928,
+                -0.15288275480270386,
+                -0.07093463093042374,
+                -0.25066205859184265,
+                0.16298545897006989,
+                0.06824681162834167,
+                0.26378333568573,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13840438830417884,
+                -0.07163463877533613,
+                -0.004269284138423823,
+                0.09104256523141538,
+                0.11971103909903955,
+                -0.46522463733022784,
+                0.1939400695019657
+            ],
+            "target_pos": [
+                0.21368050575256348,
+                0.1478992998600006,
+                0.0859985202550888
+            ],
+            "target_quat_wxyz": [
+                0.9858899116516113,
+                0.014025415293872356,
+                -0.1302853673696518,
+                0.10416354984045029
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06965270400574833,
+                -0.1779244210814474,
+                -0.04259307603448247,
+                -0.27908987339298463,
+                0.17306164656600567,
+                0.030178714355047275,
+                0.3141641867970898
+            ],
+            "target_pos": [
+                0.22605568170547485,
+                -0.1686127632856369,
+                0.14591191709041595
+            ],
+            "target_quat_wxyz": [
+                0.9792972207069397,
+                -0.02448045276105404,
+                -0.0946759581565857,
+                0.17724044620990753
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.343111115694046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000122_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 123,
+    "colors": {
+        "color_0": "colors/000123_color_0.jpg",
+        "color_2": "colors/000123_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1309036910533905,
+                -0.05946572497487068,
+                0.00044341632747091353,
+                0.0920388475060463,
+                0.11534816771745682,
+                -0.46844708919525146,
+                0.1906508058309555
+            ],
+            "ee_pos": [
+                0.21535903215408325,
+                0.15131598711013794,
+                0.08915349096059799
+            ],
+            "ee_quat_wxyz": [
+                0.9867218136787415,
+                0.01696818135678768,
+                -0.12671339511871338,
+                0.10017934441566467
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.049446914345026016,
+                -0.15933027863502502,
+                -0.056265939027071,
+                -0.2594584822654724,
+                0.16608937084674835,
+                0.053229134529829025,
+                0.2882043123245239
+            ],
+            "ee_pos": [
+                0.23568274080753326,
+                -0.17230749130249023,
+                0.14399118721485138
+            ],
+            "ee_quat_wxyz": [
+                0.9881172776222229,
+                -0.012779626995325089,
+                -0.0810154601931572,
+                0.1299900859594345
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0515358448028564,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26223400235176086,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.19570916891098022,
+                0.5042450428009033,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0602099634706974,
+                -0.0030755079351365566,
+                -0.0716681033372879,
+                0.1309036910533905,
+                -0.05946572497487068,
+                0.00044341632747091353,
+                0.0920388475060463,
+                0.11534816771745682,
+                -0.46844708919525146,
+                0.1906508058309555,
+                0.049446914345026016,
+                -0.15933027863502502,
+                -0.056265939027071,
+                -0.2594584822654724,
+                0.16608937084674835,
+                0.053229134529829025,
+                0.2882043123245239,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13818423677731356,
+                -0.07205247828878297,
+                -0.004961615060527532,
+                0.09184064485060402,
+                0.11961018918075504,
+                -0.46594915906036605,
+                0.19460940075484454
+            ],
+            "target_pos": [
+                0.21378131210803986,
+                0.1474713385105133,
+                0.08587903529405594
+            ],
+            "target_quat_wxyz": [
+                0.9858731627464294,
+                0.013599987141788006,
+                -0.1303621381521225,
+                0.10428287088871002
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08230106353832353,
+                -0.18668496321425487,
+                -0.02969562103224597,
+                -0.2845161318105934,
+                0.17417397265678775,
+                0.013325085844816445,
+                0.34031885806792816
+            ],
+            "target_pos": [
+                0.22345329821109772,
+                -0.1666017472743988,
+                0.14501424133777618
+            ],
+            "target_quat_wxyz": [
+                0.9754683375358582,
+                -0.029526134952902794,
+                -0.09754692763090134,
+                0.1951264590024948
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3471111154556272
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000123_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 124,
+    "colors": {
+        "color_0": "colors/000124_color_0.jpg",
+        "color_2": "colors/000124_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13089171051979065,
+                -0.05944175645709038,
+                -8.388957940042019e-05,
+                0.09202686697244644,
+                0.11537213623523712,
+                -0.46844708919525146,
+                0.19072751700878143
+            ],
+            "ee_pos": [
+                0.21536970138549805,
+                0.1511957198381424,
+                0.08916569501161575
+            ],
+            "ee_quat_wxyz": [
+                0.986741304397583,
+                0.016918297857046127,
+                -0.12674450874328613,
+                0.0999557301402092
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06192249059677124,
+                -0.1676712930202484,
+                -0.04429369792342186,
+                -0.2652468681335449,
+                0.16876186430454254,
+                0.03859495744109154,
+                0.31273266673088074
+            ],
+            "ee_pos": [
+                0.23288512229919434,
+                -0.16991788148880005,
+                0.14356715977191925
+            ],
+            "ee_quat_wxyz": [
+                0.9853954315185547,
+                -0.016611862927675247,
+                -0.08363547921180725,
+                0.14739389717578888
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0514421463012695,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.19566898047924042,
+                0.504270613193512,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0602099634706974,
+                -0.0030755086336284876,
+                -0.07169817388057709,
+                0.1308797299861908,
+                -0.05944175645709038,
+                -0.00023968450841493905,
+                0.09201487898826599,
+                0.11536015570163727,
+                -0.4684547483921051,
+                0.1907198429107666,
+                0.0640556812286377,
+                -0.1693490892648697,
+                -0.04236423596739769,
+                -0.26640933752059937,
+                0.1688697189092636,
+                0.03647806495428085,
+                0.31622248888015747,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13785587409077926,
+                -0.07252079846550863,
+                -0.005466638464998258,
+                0.09290284545353561,
+                0.11982022539792324,
+                -0.4665692117175477,
+                0.1955562124245457
+            ],
+            "target_pos": [
+                0.2138841152191162,
+                0.14724192023277283,
+                0.08566748350858688
+            ],
+            "target_quat_wxyz": [
+                0.9858285188674927,
+                0.013615697622299194,
+                -0.1303206980228424,
+                0.10475348681211472
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09278306800744279,
+                -0.19451991829801146,
+                -0.018617751706017045,
+                -0.28620109762950835,
+                0.17308715672003838,
+                -0.006148657985869478,
+                0.3624856860390736
+            ],
+            "target_pos": [
+                0.22160786390304565,
+                -0.16511774063110352,
+                0.1441664695739746
+            ],
+            "target_quat_wxyz": [
+                0.9723873734474182,
+                -0.03584744781255722,
+                -0.10337299108505249,
+                0.20613542199134827
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3573333370685576
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000124_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 125,
+    "colors": {
+        "color_0": "colors/000125_color_0.jpg",
+        "color_2": "colors/000125_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13086773455142975,
+                -0.05944175645709038,
+                -0.0009467537747696042,
+                0.09202686697244644,
+                0.11537213623523712,
+                -0.46847009658813477,
+                0.19075818359851837
+            ],
+            "ee_pos": [
+                0.21538816392421722,
+                0.1509886234998703,
+                0.08918387442827225
+            ],
+            "ee_quat_wxyz": [
+                0.9867774248123169,
+                0.01680450700223446,
+                -0.1267956644296646,
+                0.09955284744501114
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07656721770763397,
+                -0.17682723701000214,
+                -0.032165661454200745,
+                -0.2712269723415375,
+                0.16948091983795166,
+                0.021345343440771103,
+                0.33781325817108154
+            ],
+            "ee_pos": [
+                0.22959154844284058,
+                -0.16769064962863922,
+                0.14289264380931854
+            ],
+            "ee_quat_wxyz": [
+                0.9823024868965149,
+                -0.021758491173386574,
+                -0.08621261268854141,
+                0.16485074162483215
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051375150680542,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1282178163528442,
+                -0.07310270518064499,
+                0.1955886334180832,
+                0.5042365193367004,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.0602099634706974,
+                -0.0031211853493005037,
+                -0.07172831147909164,
+                0.1309036910533905,
+                -0.059429772198200226,
+                -0.0009827064350247383,
+                0.0920388475060463,
+                0.11538412421941757,
+                -0.4684777557849884,
+                0.19079653918743134,
+                0.07844873517751694,
+                -0.17833726108074188,
+                -0.030308105051517487,
+                -0.2717183530330658,
+                0.1696486920118332,
+                0.018653206527233124,
+                0.3408428728580475,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13757317158167245,
+                -0.07314295114406233,
+                -0.005930069879655383,
+                0.09382769154104774,
+                0.12034383186536914,
+                -0.46693230103452776,
+                0.19683387714472975
+            ],
+            "target_pos": [
+                0.21394149959087372,
+                0.14700427651405334,
+                0.08556146919727325
+            ],
+            "target_quat_wxyz": [
+                0.9857770204544067,
+                0.013547883369028568,
+                -0.13020268082618713,
+                0.10539129376411438
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09867522893587989,
+                -0.19770721609502329,
+                -0.012191762143785978,
+                -0.2823326791077445,
+                0.16947856410226733,
+                -0.027893472149794964,
+                0.37474984426056296
+            ],
+            "target_pos": [
+                0.22192154824733734,
+                -0.16493305563926697,
+                0.1434691697359085
+            ],
+            "target_quat_wxyz": [
+                0.9720433950424194,
+                -0.03888074308633804,
+                -0.11139984428882599,
+                0.20300237834453583
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3591111147403714
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000125_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 126,
+    "colors": {
+        "color_0": "colors/000126_color_0.jpg",
+        "color_2": "colors/000126_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13091567158699036,
+                -0.059429772198200226,
+                -0.0011504855938255787,
+                0.09213472157716751,
+                0.11538412421941757,
+                -0.46847009658813477,
+                0.19144847989082336
+            ],
+            "ee_pos": [
+                0.2153729498386383,
+                0.15097646415233612,
+                0.0891527384519577
+            ],
+            "ee_quat_wxyz": [
+                0.9867619872093201,
+                0.016752243041992188,
+                -0.12673281133174896,
+                0.09979454427957535
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08651412278413773,
+                -0.18555176258087158,
+                -0.019761987030506134,
+                -0.272413432598114,
+                0.16928917169570923,
+                0.002316311001777649,
+                0.35770899057388306
+            ],
+            "ee_pos": [
+                0.22719258069992065,
+                -0.1654776781797409,
+                0.14228591322898865
+            ],
+            "ee_quat_wxyz": [
+                0.9792147278785706,
+                -0.026769626885652542,
+                -0.08944229781627655,
+                0.18006089329719543
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512009859085083,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1282044649124146,
+                -0.07312827557325363,
+                0.1955886334180832,
+                0.5042279958724976,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06014300510287285,
+                -0.003128800308331847,
+                -0.07172331213951111,
+                0.1309036910533905,
+                -0.059429772198200226,
+                -0.0011864382540807128,
+                0.09213472157716751,
+                0.11538412421941757,
+                -0.46846240758895874,
+                0.19150984287261963,
+                0.08730508387088776,
+                -0.1861989051103592,
+                -0.018383800983428955,
+                -0.27242541313171387,
+                0.1693251132965088,
+                0.0005368933198042214,
+                0.35952675342559814,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13715644608985456,
+                -0.07400275351490218,
+                -0.006456119597104059,
+                0.09475212331244331,
+                0.1210866232092174,
+                -0.4673326792067038,
+                0.19837547025982327
+            ],
+            "target_pos": [
+                0.21401900053024292,
+                0.14666935801506042,
+                0.08552984893321991
+            ],
+            "target_quat_wxyz": [
+                0.985689103603363,
+                0.013206628151237965,
+                -0.1304822564125061,
+                0.10591002553701401
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09750394776831521,
+                -0.19545495035958796,
+                -0.012577802215877365,
+                -0.273691858948938,
+                0.16805920943766173,
+                -0.040246460840427156,
+                0.37399977011089136
+            ],
+            "target_pos": [
+                0.2247711420059204,
+                -0.16644702851772308,
+                0.14289216697216034
+            ],
+            "target_quat_wxyz": [
+                0.9753904342651367,
+                -0.032146111130714417,
+                -0.10893049836158752,
+                0.18898223340511322
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.356888892650604
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000126_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 127,
+    "colors": {
+        "color_0": "colors/000127_color_0.jpg",
+        "color_2": "colors/000127_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1308797299861908,
+                -0.059429772198200226,
+                -0.0015459650894626975,
+                0.09225456416606903,
+                0.11536015570163727,
+                -0.46846240758895874,
+                0.19289042055606842
+            ],
+            "ee_pos": [
+                0.215370774269104,
+                0.15094952285289764,
+                0.08913803100585938
+            ],
+            "ee_quat_wxyz": [
+                0.9867148995399475,
+                0.016600625589489937,
+                -0.1267109513282776,
+                0.10031154751777649
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09159543365240097,
+                -0.18792463839054108,
+                -0.012595420703291893,
+                -0.2719460427761078,
+                0.16892963647842407,
+                -0.012693691998720169,
+                0.3682551085948944
+            ],
+            "ee_pos": [
+                0.22586630284786224,
+                -0.1639048457145691,
+                0.14211994409561157
+            ],
+            "ee_quat_wxyz": [
+                0.977286159992218,
+                -0.028702640905976295,
+                -0.09325076639652252,
+                0.1881283074617386
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051174283027649,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1282044649124146,
+                -0.07311975210905075,
+                0.19557523727416992,
+                0.5042279958724976,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06012961268424988,
+                -0.003113574581220746,
+                -0.07171326875686646,
+                0.1308797299861908,
+                -0.059429772198200226,
+                -0.0015579492319375277,
+                0.09227853268384933,
+                0.11538412421941757,
+                -0.46846240758895874,
+                0.19309751689434052,
+                0.09179916232824326,
+                -0.18792463839054108,
+                -0.01212803553789854,
+                -0.27188611030578613,
+                0.16892963647842407,
+                -0.013897866941988468,
+                0.3687843382358551,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13716876809202963,
+                -0.07422671897467825,
+                -0.006630382098932674,
+                0.0948794902334699,
+                0.12073493308941646,
+                -0.4676933248166237,
+                0.19923550978286336
+            ],
+            "target_pos": [
+                0.2138628363609314,
+                0.1470337212085724,
+                0.08564572036266327
+            ],
+            "target_quat_wxyz": [
+                0.9856445789337158,
+                0.012539043091237545,
+                -0.13068681955337524,
+                0.1061532124876976
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09036965119193938,
+                -0.18869532271646522,
+                -0.018276041357579945,
+                -0.26068754975938946,
+                0.16568962008381163,
+                -0.04394887734368019,
+                0.3613282659061532
+            ],
+            "target_pos": [
+                0.22845947742462158,
+                -0.16843919456005096,
+                0.14170150458812714
+            ],
+            "target_quat_wxyz": [
+                0.979546844959259,
+                -0.02771606296300888,
+                -0.10429604351520538,
+                0.16982954740524292
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3546666705608366
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000127_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 128,
+    "colors": {
+        "color_0": "colors/000128_color_0.jpg",
+        "color_2": "colors/000128_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13086773455142975,
+                -0.059429772198200226,
+                -0.0023249397054314613,
+                0.092386394739151,
+                0.11539610475301743,
+                -0.46846240758895874,
+                0.19391819834709167
+            ],
+            "ee_pos": [
+                0.21537378430366516,
+                0.1508089005947113,
+                0.08912157267332077
+            ],
+            "ee_quat_wxyz": [
+                0.9867081642150879,
+                0.016456423327326775,
+                -0.12668661773204803,
+                0.100432388484478
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09183511883020401,
+                -0.18718160688877106,
+                -0.010989534668624401,
+                -0.2698248326778412,
+                0.16810272634029388,
+                -0.023278160020709038,
+                0.3686846196651459
+            ],
+            "ee_pos": [
+                0.22568950057029724,
+                -0.16349855065345764,
+                0.14245492219924927
+            ],
+            "ee_quat_wxyz": [
+                0.9767606258392334,
+                -0.029313186183571815,
+                -0.09719046950340271,
+                0.18876802921295166
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0510135889053345,
+                -0.12746016681194305,
+                -0.002624811604619026,
+                0.2622680962085724,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1281776428222656,
+                -0.07311975210905075,
+                0.19557523727416992,
+                0.5042279958724976,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06019657105207443,
+                -0.003045064862817526,
+                -0.0717783197760582,
+                0.13086773455142975,
+                -0.059429772198200226,
+                -0.0023249397054314613,
+                0.092386394739151,
+                0.11539610475301743,
+                -0.46846240758895874,
+                0.19391819834709167,
+                0.09183511883020401,
+                -0.18718160688877106,
+                -0.010989534668624401,
+                -0.2698248326778412,
+                0.16810272634029388,
+                -0.023278160020709038,
+                0.3686846196651459,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13688248079135618,
+                -0.07448186972722495,
+                -0.007056016007073237,
+                0.09549718954522801,
+                0.12069855014479289,
+                -0.4683090049384292,
+                0.20036018028159303
+            ],
+            "target_pos": [
+                0.2140316665172577,
+                0.1466798484325409,
+                0.08550206571817398
+            ],
+            "target_quat_wxyz": [
+                0.9855724573135376,
+                0.012475834228098392,
+                -0.13103491067886353,
+                0.10640060901641846
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0767652989707921,
+                -0.18146201527047712,
+                -0.027401114514637594,
+                -0.23997998231956943,
+                0.15604463830287882,
+                -0.041048835451360156,
+                0.3375150154486923
+            ],
+            "target_pos": [
+                0.2340625822544098,
+                -0.17168618738651276,
+                0.13873496651649475
+            ],
+            "target_quat_wxyz": [
+                0.9842868447303772,
+                -0.03383372724056244,
+                -0.09524140506982803,
+                0.14478854835033417
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.352888892889023
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000128_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 129,
+    "colors": {
+        "color_0": "colors/000129_color_0.jpg",
+        "color_2": "colors/000129_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1308557540178299,
+                -0.059429772198200226,
+                -0.003055977402254939,
+                0.09247028082609177,
+                0.11538412421941757,
+                -0.46848541498184204,
+                0.19470052421092987
+            ],
+            "ee_pos": [
+                0.21537841856479645,
+                0.15067033469676971,
+                0.08911694586277008
+            ],
+            "ee_quat_wxyz": [
+                0.9867066740989685,
+                0.016309086233377457,
+                -0.12669183313846588,
+                0.10046438872814178
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08750881254673004,
+                -0.18561168015003204,
+                -0.012823120690882206,
+                -0.26229873299598694,
+                0.16451944410800934,
+                -0.03188379108905792,
+                0.35953444242477417
+            ],
+            "ee_pos": [
+                0.2266915887594223,
+                -0.16418834030628204,
+                0.1425250917673111
+            ],
+            "ee_quat_wxyz": [
+                0.9775359630584717,
+                -0.030452942475676537,
+                -0.09994359314441681,
+                0.1830502450466156
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050718903541565,
+                -0.12746016681194305,
+                -0.0025980276986956596,
+                0.2622680962085724,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128164291381836,
+                -0.07310270518064499,
+                0.1955350637435913,
+                0.5042365193367004,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06014300510287285,
+                -0.003083128249272704,
+                -0.07187359780073166,
+                0.1308557540178299,
+                -0.059429772198200226,
+                -0.003055977402254939,
+                0.09247028082609177,
+                0.11538412421941757,
+                -0.46848541498184204,
+                0.19470052421092987,
+                0.08750881254673004,
+                -0.18561168015003204,
+                -0.012823120690882206,
+                -0.26229873299598694,
+                0.16451944410800934,
+                -0.03188379108905792,
+                0.35953444242477417,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13658025635042984,
+                -0.07430870121029687,
+                -0.007181821780861615,
+                0.09581456107045488,
+                0.12026353426459066,
+                -0.4687571458435498,
+                0.20113038010838385
+            ],
+            "target_pos": [
+                0.21408185362815857,
+                0.1469421088695526,
+                0.08559993654489517
+            ],
+            "target_quat_wxyz": [
+                0.9855095148086548,
+                0.012329303659498692,
+                -0.13127154111862183,
+                0.10670870542526245
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05884382431023294,
+                -0.17507648478433757,
+                -0.03643242368835939,
+                -0.21322362261569305,
+                0.1343813730095117,
+                -0.0343739179606645,
+                0.30194665529587833
+            ],
+            "target_pos": [
+                0.2399980127811432,
+                -0.1745366007089615,
+                0.13516178727149963
+            ],
+            "target_quat_wxyz": [
+                0.988801121711731,
+                -0.047870758920907974,
+                -0.08432246744632721,
+                0.11344800144433975
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.36400000333786
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000129_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 130,
+    "colors": {
+        "color_0": "colors/000130_color_0.jpg",
+        "color_2": "colors/000130_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13081979751586914,
+                -0.059417787939310074,
+                -0.003583283396437764,
+                0.09262607991695404,
+                0.11536015570163727,
+                -0.4685007631778717,
+                0.19648760557174683
+            ],
+            "ee_pos": [
+                0.21537350118160248,
+                0.15063007175922394,
+                0.08909806609153748
+            ],
+            "ee_quat_wxyz": [
+                0.9866490364074707,
+                0.01612480729818344,
+                -0.12667056918144226,
+                0.1010851114988327
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07496132701635361,
+                -0.1815010905265808,
+                -0.01798832230269909,
+                -0.24187761545181274,
+                0.15041400492191315,
+                -0.03363253176212311,
+                0.33502909541130066
+            ],
+            "ee_pos": [
+                0.2299148440361023,
+                -0.1660730242729187,
+                0.14088308811187744
+            ],
+            "ee_quat_wxyz": [
+                0.9804845452308655,
+                -0.03396361321210861,
+                -0.096858911216259,
+                0.1676749885082245
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050652027130127,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2623192369937897,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.128137469291687,
+                -0.07308565825223923,
+                0.1955350637435913,
+                0.5042279958724976,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06015639379620552,
+                -0.0033952519297599792,
+                -0.07215971499681473,
+                0.13079583644866943,
+                -0.059417787939310074,
+                -0.0037510625552386045,
+                0.09260211139917374,
+                0.11538412421941757,
+                -0.468523770570755,
+                0.19674839079380035,
+                0.07293599843978882,
+                -0.1809018850326538,
+                -0.019354524090886116,
+                -0.23846212029457092,
+                0.14880812168121338,
+                -0.03363253176212311,
+                0.33061888813972473,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13587829052662093,
+                -0.07428417465325303,
+                -0.007647982403375649,
+                0.09676541250214565,
+                0.12012448453930896,
+                -0.4691174915334373,
+                0.20219515633284255
+            ],
+            "target_pos": [
+                0.2143428772687912,
+                0.14656361937522888,
+                0.08542861044406891
+            ],
+            "target_quat_wxyz": [
+                0.98550945520401,
+                0.01206066645681858,
+                -0.13125784695148468,
+                0.10675699263811111
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.037694246425983347,
+                -0.1700245115142309,
+                -0.04743235695687151,
+                -0.18153791042528775,
+                0.1118737714015825,
+                -0.023976076736456752,
+                0.26271298622741973
+            ],
+            "target_pos": [
+                0.24603019654750824,
+                -0.17920000851154327,
+                0.13166846334934235
+            ],
+            "target_quat_wxyz": [
+                0.9925062656402588,
+                -0.05108712241053581,
+                -0.07093356549739838,
+                0.08538081496953964
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3724444472789763
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000130_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 131,
+    "colors": {
+        "color_0": "colors/000131_color_0.jpg",
+        "color_2": "colors/000131_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13071194291114807,
+                -0.059369850903749466,
+                -0.0043982104398310184,
+                0.0926620289683342,
+                0.11539610475301743,
+                -0.4685467779636383,
+                0.19749236106872559
+            ],
+            "ee_pos": [
+                0.21539705991744995,
+                0.15048322081565857,
+                0.08912773430347443
+            ],
+            "ee_quat_wxyz": [
+                0.986631453037262,
+                0.01598970778286457,
+                -0.12676410377025604,
+                0.10116130113601685
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.059669457376003265,
+                -0.1781095564365387,
+                -0.027168238535523415,
+                -0.21532057225704193,
+                0.1335761696100235,
+                -0.03314932808279991,
+                0.30164965987205505
+            ],
+            "ee_pos": [
+                0.2339150458574295,
+                -0.16949839890003204,
+                0.13848906755447388
+            ],
+            "ee_quat_wxyz": [
+                0.9843291640281677,
+                -0.03860650584101677,
+                -0.09121160209178925,
+                0.14589731395244598
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506653785705566,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2623107135295868,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1281776428222656,
+                -0.07311122864484787,
+                0.19554845988750458,
+                0.5041853785514832,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06061172112822533,
+                -0.003319127019494772,
+                -0.07221973687410355,
+                0.13071194291114807,
+                -0.05938183516263962,
+                -0.0043982104398310184,
+                0.09275790303945541,
+                0.11534816771745682,
+                -0.46853911876678467,
+                0.19772246479988098,
+                0.057260628789663315,
+                -0.17764216661453247,
+                -0.028354676440358162,
+                -0.2112579196691513,
+                0.1311313956975937,
+                -0.03275049105286598,
+                0.2972394824028015,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13517702352211527,
+                -0.07396378199191161,
+                -0.007986950967180972,
+                0.09758754306820304,
+                0.11979861185900226,
+                -0.4694638023102461,
+                0.20295644456329115
+            ],
+            "target_pos": [
+                0.21442435681819916,
+                0.1467457115650177,
+                0.08546818792819977
+            ],
+            "target_quat_wxyz": [
+                0.9854776263237,
+                0.011960979551076889,
+                -0.1315586119890213,
+                0.10669146478176117
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.015383956273358639,
+                -0.1649555595208822,
+                -0.060764263780645304,
+                -0.1487148102455377,
+                0.09800760295083771,
+                -0.00936912108655853,
+                0.22533091022959412
+            ],
+            "target_pos": [
+                0.2512163519859314,
+                -0.18381258845329285,
+                0.12868954241275787
+            ],
+            "target_quat_wxyz": [
+                0.9955269694328308,
+                -0.04298701882362366,
+                -0.05711722373962402,
+                0.06177249550819397
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.377777780294418
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000131_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 132,
+    "colors": {
+        "color_0": "colors/000132_color_0.jpg",
+        "color_2": "colors/000132_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13066400587558746,
+                -0.05932191386818886,
+                -0.004853611346334219,
+                0.09280584007501602,
+                0.11534816771745682,
+                -0.46865415573120117,
+                0.19861216843128204
+            ],
+            "ee_pos": [
+                0.21539783477783203,
+                0.15043367445468903,
+                0.08912120759487152
+            ],
+            "ee_quat_wxyz": [
+                0.9865968227386475,
+                0.015857502818107605,
+                -0.12679219245910645,
+                0.10148388892412186
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.04054263234138489,
+                -0.17360348999500275,
+                -0.03989548608660698,
+                -0.18424548208713531,
+                0.11651063710451126,
+                -0.027281850576400757,
+                0.26670557260513306
+            ],
+            "ee_pos": [
+                0.23866310715675354,
+                -0.17365652322769165,
+                0.13561822474002838
+            ],
+            "ee_quat_wxyz": [
+                0.9881867170333862,
+                -0.042472295463085175,
+                -0.08295554667711258,
+                0.12166118621826172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506385564804077,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.2624044418334961,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281776428222656,
+                -0.07310270518064499,
+                0.19554845988750458,
+                0.5041683316230774,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06087955832481384,
+                -0.0033495768439024687,
+                -0.07218971848487854,
+                0.1306520253419876,
+                -0.05933389812707901,
+                -0.0049494849517941475,
+                0.09292568266391754,
+                0.11532419919967651,
+                -0.4686618447303772,
+                0.19881926476955414,
+                0.03737879917025566,
+                -0.17283649742603302,
+                -0.04219645634293556,
+                -0.17948773503303528,
+                0.11319100856781006,
+                -0.02555612102150917,
+                0.2611372470855713,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13450583732741586,
+                -0.07339048247663357,
+                -0.008132085758255258,
+                0.09810154587375705,
+                0.1191630482017729,
+                -0.469693663741366,
+                0.2033628300141045
+            ],
+            "target_pos": [
+                0.21455471217632294,
+                0.146925687789917,
+                0.0855645090341568
+            ],
+            "target_quat_wxyz": [
+                0.985445499420166,
+                0.011824725195765495,
+                -0.13185381889343262,
+                0.10663901269435883
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.006763128681715039,
+                -0.16020278444295954,
+                -0.07500226596462864,
+                -0.115295416544723,
+                0.08951607161153823,
+                0.006201574627482696,
+                0.1917088037398802
+            ],
+            "target_pos": [
+                0.2559589147567749,
+                -0.18809200823307037,
+                0.12515892088413239
+            ],
+            "target_quat_wxyz": [
+                0.9974201917648315,
+                -0.03964417055249214,
+                -0.044110771268606186,
+                0.04044206812977791
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.387555557489395
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000132_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 133,
+    "colors": {
+        "color_0": "colors/000133_color_0.jpg",
+        "color_2": "colors/000133_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.130604088306427,
+                -0.0592859610915184,
+                -0.005368933081626892,
+                0.09297361969947815,
+                0.11531221866607666,
+                -0.4686848521232605,
+                0.19940216839313507
+            ],
+            "ee_pos": [
+                0.21540692448616028,
+                0.1503504067659378,
+                0.08910545706748962
+            ],
+            "ee_quat_wxyz": [
+                0.9865874648094177,
+                0.015742013230919838,
+                -0.12677553296089172,
+                0.10161367803812027
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.01816808618605137,
+                -0.16915734112262726,
+                -0.05513941869139671,
+                -0.15085743367671967,
+                0.1043706163764,
+                -0.01544718723744154,
+                0.22920742630958557
+            ],
+            "ee_pos": [
+                0.2439311444759369,
+                -0.17846311628818512,
+                0.13264742493629456
+            ],
+            "ee_quat_wxyz": [
+                0.9918372631072998,
+                -0.04347831383347511,
+                -0.07276342809200287,
+                0.09525717049837112
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050652027130127,
+                -0.12745164334774017,
+                -0.00258463597856462,
+                0.26237037777900696,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.128137469291687,
+                -0.07311122864484787,
+                0.19556185603141785,
+                0.5041768550872803,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06070546433329582,
+                -0.0033191258553415537,
+                -0.07216962426900864,
+                0.13059210777282715,
+                -0.0592859610915184,
+                -0.005368933081626892,
+                0.09308147430419922,
+                0.11530023068189621,
+                -0.4686848521232605,
+                0.19960159063339233,
+                0.015052187256515026,
+                -0.1687738448381424,
+                -0.056661415845155716,
+                -0.14672286808490753,
+                0.10284861922264099,
+                -0.012778060510754585,
+                0.22491227090358734,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13391107762947319,
+                -0.07276943542426263,
+                -0.008221331706316719,
+                0.09836209781295263,
+                0.11846735409884103,
+                -0.4698702884615663,
+                0.20357277911792593
+            ],
+            "target_pos": [
+                0.21465061604976654,
+                0.1470496952533722,
+                0.08568514883518219
+            ],
+            "target_quat_wxyz": [
+                0.9854151606559753,
+                0.011691037565469742,
+                -0.13214845955371857,
+                0.10656944662332535
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.027204008657849544,
+                -0.15718265418671412,
+                -0.08735907994457151,
+                -0.08217684174428264,
+                0.08168637465485146,
+                0.020540315653911886,
+                0.16167119930718166
+            ],
+            "target_pos": [
+                0.25981295108795166,
+                -0.19152143597602844,
+                0.1212020069360733
+            ],
+            "target_quat_wxyz": [
+                0.9983296990394592,
+                -0.043023835867643356,
+                -0.0315878689289093,
+                0.022112080827355385
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3977777791023254
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000133_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 134,
+    "colors": {
+        "color_0": "colors/000134_color_0.jpg",
+        "color_2": "colors/000134_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13059210777282715,
+                -0.059250008314847946,
+                -0.00529702752828598,
+                0.09318933635950089,
+                0.11532419919967651,
+                -0.46869251132011414,
+                0.2001921683549881
+            ],
+            "ee_pos": [
+                0.21539664268493652,
+                0.1504083126783371,
+                0.08905967324972153
+            ],
+            "ee_quat_wxyz": [
+                0.9865571856498718,
+                0.0157290268689394,
+                -0.12668415904045105,
+                0.1020224541425705
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.00430233683437109,
+                -0.16564595699310303,
+                -0.06880144029855728,
+                -0.11826033145189285,
+                0.09339306503534317,
+                -0.0009203884983435273,
+                0.1947772204875946
+            ],
+            "ee_pos": [
+                0.24898801743984222,
+                -0.18282589316368103,
+                0.12964074313640594
+            ],
+            "ee_quat_wxyz": [
+                0.9945778250694275,
+                -0.04420025646686554,
+                -0.061513908207416534,
+                0.07125550508499146
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7256046387426558
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506385564804077,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26232776045799255,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1281909942626953,
+                -0.07311122864484787,
+                0.19554845988750458,
+                0.5042024254798889,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060424234718084335,
+                -0.003296285169199109,
+                -0.07215455919504166,
+                0.13056813180446625,
+                -0.059250008314847946,
+                -0.005332980304956436,
+                0.09323727339506149,
+                0.11526428163051605,
+                -0.4686771631240845,
+                0.2002381980419159,
+                -0.006004096940159798,
+                -0.16541826725006104,
+                -0.06995192170143127,
+                -0.11567173898220062,
+                0.09251821786165237,
+                0.0005215535056777298,
+                0.1924455761909485,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13453309345527958,
+                -0.0727527457606484,
+                -0.008859882702663996,
+                0.09853059463887714,
+                0.11868452347020983,
+                -0.47094344773901725,
+                0.2041660666157678
+            ],
+            "target_pos": [
+                0.2140810489654541,
+                0.14655861258506775,
+                0.08535914123058319
+            ],
+            "target_quat_wxyz": [
+                0.9853707551956177,
+                0.011851313523948193,
+                -0.13239999115467072,
+                0.10665038228034973
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04266976716374528,
+                -0.15781105290003689,
+                -0.09520155679873561,
+                -0.05142910075256708,
+                0.0716800385517437,
+                0.03040054290490438,
+                0.1386199877964377
+            ],
+            "target_pos": [
+                0.26164108514785767,
+                -0.19426365196704865,
+                0.1168704479932785
+            ],
+            "target_quat_wxyz": [
+                0.998383104801178,
+                -0.05104143172502518,
+                -0.02091808058321476,
+                0.013725399039685726
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3951111125946043
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000134_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 135,
+    "colors": {
+        "color_0": "colors/000135_color_0.jpg",
+        "color_2": "colors/000135_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13054417073726654,
+                -0.059250008314847946,
+                -0.005560680292546749,
+                0.0932852104306221,
+                0.11536015570163727,
+                -0.46876922249794006,
+                0.2005143016576767
+            ],
+            "ee_pos": [
+                0.21540439128875732,
+                0.15035471320152283,
+                0.08905887603759766
+            ],
+            "ee_quat_wxyz": [
+                0.9865530133247375,
+                0.01568799652159214,
+                -0.12670986354351044,
+                0.1020377054810524
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.02430400811135769,
+                -0.1634288728237152,
+                -0.0824754387140274,
+                -0.08744889497756958,
+                0.08488427102565765,
+                0.011098351329565048,
+                0.16576197743415833
+            ],
+            "ee_pos": [
+                0.2532989978790283,
+                -0.18717409670352936,
+                0.12678588926792145
+            ],
+            "ee_quat_wxyz": [
+                0.9964421391487122,
+                -0.04464397206902504,
+                -0.051146045327186584,
+                0.049940720200538635
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051120638847351,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.2622510492801666,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1281909942626953,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042535662651062,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.0602099634706974,
+                -0.003166868584230542,
+                -0.07200903445482254,
+                0.13054417073726654,
+                -0.059250008314847946,
+                -0.005560680292546749,
+                0.0932852104306221,
+                0.11536015570163727,
+                -0.46876922249794006,
+                0.2005143016576767,
+                -0.02430400811135769,
+                -0.1634288728237152,
+                -0.0824754387140274,
+                -0.08744889497756958,
+                0.08488427102565765,
+                0.011098351329565048,
+                0.16576197743415833,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1345503372183566,
+                -0.07268588498082339,
+                -0.009034748791947926,
+                0.09887067842770811,
+                0.11869780199857025,
+                -0.47140252702143765,
+                0.2047043207416825
+            ],
+            "target_pos": [
+                0.2143736481666565,
+                0.14679229259490967,
+                0.08540193736553192
+            ],
+            "target_quat_wxyz": [
+                0.9853484034538269,
+                0.011753453873097897,
+                -0.132280632853508,
+                0.10701502859592438
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05468777722021618,
+                -0.16090997269739374,
+                -0.09857214108412639,
+                -0.022675703572975194,
+                0.06086061652146307,
+                0.034827755391871475,
+                0.12341464519526696
+            ],
+            "target_pos": [
+                0.26344215869903564,
+                -0.19571970403194427,
+                0.11312608420848846
+            ],
+            "target_quat_wxyz": [
+                0.9982070922851562,
+                -0.05710798129439354,
+                -0.013638721778988838,
+                0.0116305286064744
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3942222237586974
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000135_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 136,
+    "colors": {
+        "color_0": "colors/000136_color_0.jpg",
+        "color_2": "colors/000136_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1305321753025055,
+                -0.05922603979706764,
+                -0.005560680292546749,
+                0.09341703355312347,
+                0.11533618718385696,
+                -0.4687768816947937,
+                0.20079809427261353
+            ],
+            "ee_pos": [
+                0.21540163457393646,
+                0.15037120878696442,
+                0.08903242647647858
+            ],
+            "ee_quat_wxyz": [
+                0.9865461587905884,
+                0.015672985464334488,
+                -0.12665638327598572,
+                0.1021726205945015
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.042639873921871185,
+                -0.16339293122291565,
+                -0.09119995683431625,
+                -0.055942364037036896,
+                0.07288806140422821,
+                0.019703984260559082,
+                0.14282895624637604
+            ],
+            "ee_pos": [
+                0.25716206431388855,
+                -0.1904674917459488,
+                0.1235899105668068
+            ],
+            "ee_quat_wxyz": [
+                0.9974417686462402,
+                -0.04806362837553024,
+                -0.04064979404211044,
+                0.03387372940778732
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522187948226929,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1282178163528442,
+                -0.07311975210905075,
+                0.1957627236843109,
+                0.5042024254798889,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.0602099634706974,
+                -0.003174481214955449,
+                -0.07191382348537445,
+                0.1305321753025055,
+                -0.05922603979706764,
+                -0.005596633069217205,
+                0.09344100207090378,
+                0.11534816771745682,
+                -0.4687768816947937,
+                0.20086713135242462,
+                -0.04458131641149521,
+                -0.1634528487920761,
+                -0.09197892993688583,
+                -0.052622731775045395,
+                0.07174955308437347,
+                0.021391363814473152,
+                0.13995274901390076,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13414111984895596,
+                -0.07258787410910977,
+                -0.008818221140011288,
+                0.09929048310922509,
+                0.11843267667772435,
+                -0.4713904699877698,
+                0.2051200495028717
+            ],
+            "target_pos": [
+                0.21461516618728638,
+                0.14701631665229797,
+                0.08544079959392548
+            ],
+            "target_quat_wxyz": [
+                0.9853280186653137,
+                0.011522441171109676,
+                -0.13214530050754547,
+                0.10739435255527496
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.06507260385397534,
+                -0.16369161926540723,
+                -0.10037683352166513,
+                0.0040549961910624314,
+                0.05397386983350619,
+                0.038303146083869796,
+                0.11477275746466434
+            ],
+            "target_pos": [
+                0.2653495669364929,
+                -0.19686363637447357,
+                0.1095610111951828
+            ],
+            "target_quat_wxyz": [
+                0.9983997344970703,
+                -0.05550115182995796,
+                -0.004195941612124443,
+                0.009996531531214714
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3800000023841856
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000136_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 137,
+    "colors": {
+        "color_0": "colors/000137_color_0.jpg",
+        "color_2": "colors/000137_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1305082142353058,
+                -0.05922603979706764,
+                -0.005632585845887661,
+                0.09348893910646439,
+                0.11533618718385696,
+                -0.4687768816947937,
+                0.2010665386915207
+            ],
+            "ee_pos": [
+                0.21540392935276031,
+                0.1503647118806839,
+                0.08902224898338318
+            ],
+            "ee_quat_wxyz": [
+                0.9865394830703735,
+                0.015647374093532562,
+                -0.12663668394088745,
+                0.10226500034332275
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05572664737701416,
+                -0.1639801561832428,
+                -0.09611348807811737,
+                -0.028558408841490746,
+                0.0649784728884697,
+                0.025893596932291985,
+                0.1267758458852768
+            ],
+            "ee_pos": [
+                0.25989851355552673,
+                -0.19276152551174164,
+                0.120199054479599
+            ],
+            "ee_quat_wxyz": [
+                0.9980002045631409,
+                -0.05025303363800049,
+                -0.03069220297038555,
+                0.022981826215982437
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7256046387426558
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0527143478393555,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1290481090545654,
+                -0.07310270518064499,
+                0.19596360623836517,
+                0.5041171908378601,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06012961268424988,
+                -0.0031287914607673883,
+                -0.07157295942306519,
+                0.13054417073726654,
+                -0.05922603979706764,
+                -0.005596633069217205,
+                0.0935608446598053,
+                0.11533618718385696,
+                -0.4687768816947937,
+                0.20118926465511322,
+                -0.05784785374999046,
+                -0.164076030254364,
+                -0.09646102786064148,
+                -0.024088293313980103,
+                0.06349242478609085,
+                0.026790976524353027,
+                0.12482769042253494,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13362789261367236,
+                -0.07239769372008578,
+                -0.00849883150523326,
+                0.09961910939663862,
+                0.11798384954930602,
+                -0.47103889193726434,
+                0.20526559207368136
+            ],
+            "target_pos": [
+                0.21471136808395386,
+                0.14712917804718018,
+                0.08544616401195526
+            ],
+            "target_quat_wxyz": [
+                0.9853615164756775,
+                0.011408229358494282,
+                -0.1319214403629303,
+                0.10737422853708267
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07487298906269596,
+                -0.16556462861366256,
+                -0.10075831339064709,
+                0.029418119001922934,
+                0.04854956958544915,
+                0.04311780149649541,
+                0.10810671888156204
+            ],
+            "target_pos": [
+                0.2672956585884094,
+                -0.19745056331157684,
+                0.10570411384105682
+            ],
+            "target_quat_wxyz": [
+                0.9983450770378113,
+                -0.05669890344142914,
+                0.007328843232244253,
+                0.00621387455612421
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.36400000333786
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000137_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 138,
+    "colors": {
+        "color_0": "colors/000138_color_0.jpg",
+        "color_2": "colors/000138_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13049623370170593,
+                -0.05920207127928734,
+                -0.005560680292546749,
+                0.09363275021314621,
+                0.11531221866607666,
+                -0.46878454089164734,
+                0.20148839056491852
+            ],
+            "ee_pos": [
+                0.21539843082427979,
+                0.15040506422519684,
+                0.08899220824241638
+            ],
+            "ee_quat_wxyz": [
+                0.986522912979126,
+                0.01563309319317341,
+                -0.12657608091831207,
+                0.10250215977430344
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.06717158108949661,
+                -0.16443555057048798,
+                -0.09738381206989288,
+                0.000862864195369184,
+                0.05632586032152176,
+                0.030487868934869766,
+                0.11629875749349594
+            ],
+            "ee_pos": [
+                0.2622787058353424,
+                -0.19402816891670227,
+                0.11592412739992142
+            ],
+            "ee_quat_wxyz": [
+                0.998275876045227,
+                -0.05291801691055298,
+                -0.01935603842139244,
+                0.016442684456706047
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0530625581741333,
+                -0.12746016681194305,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1296775341033936,
+                -0.07311122864484787,
+                0.19605734944343567,
+                0.5041086673736572,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06019657105207443,
+                -0.002930860035121441,
+                -0.07129202038049698,
+                0.1305082142353058,
+                -0.059190087020397186,
+                -0.005560680292546749,
+                0.09366870671510696,
+                0.11532419919967651,
+                -0.46878454089164734,
+                0.20149604976177216,
+                -0.06828611344099045,
+                -0.16441158950328827,
+                -0.09737183153629303,
+                0.0031398669816553593,
+                0.05583450570702553,
+                0.03089437447488308,
+                0.11573118716478348,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13465548163167865,
+                -0.07226745687818871,
+                -0.008742793407460007,
+                0.0980548459097775,
+                0.1179666421799472,
+                -0.47045529404285086,
+                0.2051707566271379
+            ],
+            "target_pos": [
+                0.2139318436384201,
+                0.14700265228748322,
+                0.08576285094022751
+            ],
+            "target_quat_wxyz": [
+                0.9854071140289307,
+                0.01183116901665926,
+                -0.13176780939102173,
+                0.10709872841835022
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08336830509645907,
+                -0.16629163863901522,
+                -0.10053565939288675,
+                0.05327479427174184,
+                0.04250090921852623,
+                0.04738285646411087,
+                0.10096764249401623
+            ],
+            "target_pos": [
+                0.26834237575531006,
+                -0.19805951416492462,
+                0.1019354984164238
+            ],
+            "target_quat_wxyz": [
+                0.9980559945106506,
+                -0.06005076318979263,
+                0.01661687344312668,
+                0.0014260202879086137
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3373333382606503
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000138_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 139,
+    "colors": {
+        "color_0": "colors/000139_color_0.jpg",
+        "color_2": "colors/000139_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13049623370170593,
+                -0.059190087020397186,
+                -0.005716475658118725,
+                0.09370465576648712,
+                0.11532419919967651,
+                -0.4687538743019104,
+                0.20160344243049622
+            ],
+            "ee_pos": [
+                0.21539930999279022,
+                0.15037404000759125,
+                0.08897540718317032
+            ],
+            "ee_quat_wxyz": [
+                0.986531138420105,
+                0.015621103346347809,
+                -0.1265321671962738,
+                0.1024787649512291
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0767110288143158,
+                -0.16445952653884888,
+                -0.09716809540987015,
+                0.026808712631464005,
+                0.04921921342611313,
+                0.03620961681008339,
+                0.10878225415945053
+            ],
+            "ee_pos": [
+                0.2642051577568054,
+                -0.1947019249200821,
+                0.11179503798484802
+            ],
+            "ee_quat_wxyz": [
+                0.9983854293823242,
+                -0.05487728491425514,
+                -0.008177530951797962,
+                0.012169680558145046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0531160831451416,
+                -0.12745164334774017,
+                -0.0025712440256029367,
+                0.2622510492801666,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.129838228225708,
+                -0.07310270518064499,
+                0.19609752297401428,
+                0.5041001439094543,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06015639379620552,
+                -0.0027709919959306717,
+                -0.07110635936260223,
+                0.13048423826694489,
+                -0.059178102761507034,
+                -0.005716475658118725,
+                0.09368068724870682,
+                0.11534816771745682,
+                -0.46876922249794006,
+                0.20161877572536469,
+                -0.07740610837936401,
+                -0.16448348760604858,
+                -0.09712015837430954,
+                0.029085714370012283,
+                0.048763811588287354,
+                0.03690757974982262,
+                0.10843710601329803,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13545919745763907,
+                -0.07210039719343161,
+                -0.009034344046690278,
+                0.09698755488308636,
+                0.11798767627069315,
+                -0.47012874493572593,
+                0.20499669374587165
+            ],
+            "target_pos": [
+                0.21400122344493866,
+                0.14703042805194855,
+                0.08572017401456833
+            ],
+            "target_quat_wxyz": [
+                0.9854319095611572,
+                0.011878636665642262,
+                -0.13174138963222504,
+                0.10689743608236313
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09184791942117468,
+                -0.16618297210210464,
+                -0.10034690894145842,
+                0.07773418875253753,
+                0.03730696786946257,
+                0.05112977302056673,
+                0.09450856902295832
+            ],
+            "target_pos": [
+                0.2699521780014038,
+                -0.19852882623672485,
+                0.0978083536028862
+            ],
+            "target_quat_wxyz": [
+                0.9978439211845398,
+                -0.06029625982046127,
+                0.025895215570926666,
+                -0.0011640986194834113
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.332444449663162
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000139_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 140,
+    "colors": {
+        "color_0": "colors/000140_color_0.jpg",
+        "color_2": "colors/000140_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13044829666614532,
+                -0.059190087020397186,
+                -0.005944175645709038,
+                0.09368068724870682,
+                0.11536015570163727,
+                -0.46876922249794006,
+                0.20161110162734985
+            ],
+            "ee_pos": [
+                0.2154129296541214,
+                0.15031561255455017,
+                0.0889953225851059
+            ],
+            "ee_quat_wxyz": [
+                0.9865370392799377,
+                0.015604055486619473,
+                -0.12658311426639557,
+                0.10236142575740814
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08353005349636078,
+                -0.16436365246772766,
+                -0.09626927971839905,
+                0.051304467022418976,
+                0.04446147382259369,
+                0.041118357330560684,
+                0.10442575067281723
+            ],
+            "ee_pos": [
+                0.26550576090812683,
+                -0.19514185190200806,
+                0.10736154764890671
+            ],
+            "ee_quat_wxyz": [
+                0.9983879327774048,
+                -0.055828966200351715,
+                0.0032139525283128023,
+                0.009712954051792622
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0529553890228271,
+                -0.12745164334774017,
+                -0.00258463597856462,
+                0.2622680962085724,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.129610538482666,
+                -0.07308565825223923,
+                0.1961376965045929,
+                0.5041342377662659,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0599822998046875,
+                -0.0027557623106986284,
+                -0.07112637907266617,
+                0.13044829666614532,
+                -0.059178102761507034,
+                -0.005992112681269646,
+                0.09366870671510696,
+                0.11538412421941757,
+                -0.46876922249794006,
+                0.20161110162734985,
+                -0.08390156179666519,
+                -0.16437563300132751,
+                -0.09626927971839905,
+                0.052922338247299194,
+                0.04399409145116806,
+                0.04164757952094078,
+                0.1040499210357666,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13587696581377662,
+                -0.07193427980903448,
+                -0.009231944883241722,
+                0.09635125963480831,
+                0.11777218776992333,
+                -0.4697658855032323,
+                0.20470903254554612
+            ],
+            "target_pos": [
+                0.2141197770833969,
+                0.14709098637104034,
+                0.08571242541074753
+            ],
+            "target_quat_wxyz": [
+                0.9854782223701477,
+                0.011614407412707806,
+                -0.13152559101581573,
+                0.10676528513431549
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10046234438457496,
+                -0.16624728398039648,
+                -0.1001907852206231,
+                0.10219970392884853,
+                0.033249269441311236,
+                0.05653867696082189,
+                0.08950584618187395
+            ],
+            "target_pos": [
+                0.27154541015625,
+                -0.1991349756717682,
+                0.09375976771116257
+            ],
+            "target_quat_wxyz": [
+                0.9974808692932129,
+                -0.05978936702013016,
+                0.038063813000917435,
+                -0.0028809343930333853
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.335111116170883
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000140_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 141,
+    "colors": {
+        "color_0": "colors/000141_color_0.jpg",
+        "color_2": "colors/000141_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13047225773334503,
+                -0.05916611850261688,
+                -0.006004096940159798,
+                0.09365671873092651,
+                0.11533618718385696,
+                -0.46876153349876404,
+                0.20173382759094238
+            ],
+            "ee_pos": [
+                0.21540793776512146,
+                0.15031416714191437,
+                0.08899570256471634
+            ],
+            "ee_quat_wxyz": [
+                0.986533522605896,
+                0.015590326860547066,
+                -0.12658244371414185,
+                0.10239827632904053
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08868326991796494,
+                -0.16443555057048798,
+                -0.09610150009393692,
+                0.07245662808418274,
+                0.038217693567276,
+                0.044822920113801956,
+                0.09993885457515717
+            ],
+            "ee_pos": [
+                0.2663896083831787,
+                -0.19578687846660614,
+                0.10343164205551147
+            ],
+            "ee_quat_wxyz": [
+                0.9982153177261353,
+                -0.05784031003713608,
+                0.013184020295739174,
+                0.0068464623764157295
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0526875257492065,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.2622510492801666,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1290481090545654,
+                -0.07310270518064499,
+                0.1961376965045929,
+                0.5042024254798889,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.059741247445344925,
+                -0.002755767432972789,
+                -0.07113640755414963,
+                0.13048423826694489,
+                -0.05916611850261688,
+                -0.00601608119904995,
+                0.09366870671510696,
+                0.11530023068189621,
+                -0.46876153349876404,
+                0.20180284976959229,
+                -0.08961803466081619,
+                -0.16442357003688812,
+                -0.09614943712949753,
+                0.07716642320156097,
+                0.037223003804683685,
+                0.04560524970293045,
+                0.09888807684183121,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1359263595020955,
+                -0.0717756584747423,
+                -0.00937105152672146,
+                0.09617773902491268,
+                0.11779488596922813,
+                -0.46953420182038824,
+                0.20463107837546687
+            ],
+            "target_pos": [
+                0.21418355405330658,
+                0.14705799520015717,
+                0.08570539206266403
+            ],
+            "target_quat_wxyz": [
+                0.9854764938354492,
+                0.011891464702785015,
+                -0.13154934346675873,
+                0.10672157257795334
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10875093271879195,
+                -0.1659926743228231,
+                -0.10045217800325659,
+                0.12575505179005017,
+                0.029668571634479612,
+                0.06242456152291005,
+                0.0850977636638002
+            ],
+            "target_pos": [
+                0.2728138566017151,
+                -0.19965779781341553,
+                0.09003257006406784
+            ],
+            "target_quat_wxyz": [
+                0.9970011115074158,
+                -0.05994497239589691,
+                0.04858485981822014,
+                -0.005908123217523098
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.339555560350418
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000141_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 142,
+    "colors": {
+        "color_0": "colors/000142_color_0.jpg",
+        "color_2": "colors/000142_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13048423826694489,
+                -0.05915413424372673,
+                -0.005932191386818886,
+                0.09366870671510696,
+                0.1152762621641159,
+                -0.4687538743019104,
+                0.20194090902805328
+            ],
+            "ee_pos": [
+                0.21540194749832153,
+                0.1503468006849289,
+                0.0889885351061821
+            ],
+            "ee_quat_wxyz": [
+                0.9865210056304932,
+                0.015565523877739906,
+                -0.1265643984079361,
+                0.1025448814034462
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09495101869106293,
+                -0.16439960896968842,
+                -0.09616142511367798,
+                0.09725198894739151,
+                0.03380750119686127,
+                0.04911806806921959,
+                0.09431681036949158
+            ],
+            "ee_pos": [
+                0.267374187707901,
+                -0.19655679166316986,
+                0.09891577064990997
+            ],
+            "ee_quat_wxyz": [
+                0.9979647397994995,
+                -0.05874835327267647,
+                0.024576734751462936,
+                0.0033102596644312143
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0523661375045776,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1284856796264648,
+                -0.07310270518064499,
+                0.1960841417312622,
+                0.5041598081588745,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.059888556599617004,
+                -0.0027177028823643923,
+                -0.07118145376443863,
+                0.13049623370170593,
+                -0.05914214998483658,
+                -0.005944175645709038,
+                0.09366870671510696,
+                0.11528825014829636,
+                -0.4687768816947937,
+                0.20201760530471802,
+                -0.09594570845365524,
+                -0.16438761353492737,
+                -0.09619737416505814,
+                0.10145845264196396,
+                0.03317233547568321,
+                0.050276223570108414,
+                0.09343477338552475,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13696690104616574,
+                -0.0724416624936892,
+                -0.010327066936990505,
+                0.09456797911269887,
+                0.1186638757914005,
+                -0.46914352803982684,
+                0.2050960059363553
+            ],
+            "target_pos": [
+                0.21355752646923065,
+                0.1463252305984497,
+                0.08617859333753586
+            ],
+            "target_quat_wxyz": [
+                0.9854558706283569,
+                0.011871573515236378,
+                -0.1316688358783722,
+                0.1067664623260498
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11449369742251403,
+                -0.1663337310866596,
+                -0.1013525238137414,
+                0.14413761459855234,
+                0.027716541256635203,
+                0.06711537578608633,
+                0.0821400128138951
+            ],
+            "target_pos": [
+                0.27267271280288696,
+                -0.20068876445293427,
+                0.08812122792005539
+            ],
+            "target_quat_wxyz": [
+                0.9967024326324463,
+                -0.05990322679281235,
+                0.05418138578534126,
+                -0.007757867686450481
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.343111115694046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000142_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 143,
+    "colors": {
+        "color_0": "colors/000143_color_0.jpg",
+        "color_2": "colors/000143_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1305801123380661,
+                -0.05915413424372673,
+                -0.005968144163489342,
+                0.09362076967954636,
+                0.11530023068189621,
+                -0.46873852610588074,
+                0.20229372382164001
+            ],
+            "ee_pos": [
+                0.215379998087883,
+                0.1503608226776123,
+                0.08897875249385834
+            ],
+            "ee_quat_wxyz": [
+                0.986506998538971,
+                0.015555649064481258,
+                -0.1265396624803543,
+                0.10271183401346207
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1025729849934578,
+                -0.16433967649936676,
+                -0.09652095288038254,
+                0.11515641957521439,
+                0.03142263740301132,
+                0.05037593096494675,
+                0.09002933651208878
+            ],
+            "ee_pos": [
+                0.26869291067123413,
+                -0.19693057239055634,
+                0.09665078669786453
+            ],
+            "ee_quat_wxyz": [
+                0.9977905750274658,
+                -0.059110380709171295,
+                0.030317092314362526,
+                0.0009195564198307693
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0521920919418335,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1283116340637207,
+                -0.07310270518064499,
+                0.1960037797689438,
+                0.5041598081588745,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06000908464193344,
+                -0.0025882881600409746,
+                -0.07127648591995239,
+                0.13059210777282715,
+                -0.059178102761507034,
+                -0.005944175645709038,
+                0.09366870671510696,
+                0.11531221866607666,
+                -0.46874621510505676,
+                0.20241644978523254,
+                -0.10493387281894684,
+                -0.16433967649936676,
+                -0.09643705934286118,
+                0.11751731485128403,
+                0.03124287538230419,
+                0.05038360133767128,
+                0.08969186246395111,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1376897075541317,
+                -0.07298828111656205,
+                -0.010930311083561062,
+                0.09302997997803689,
+                0.11911215252419877,
+                -0.468523368409717,
+                0.20553202118076172
+            ],
+            "target_pos": [
+                0.21364061534404755,
+                0.14643102884292603,
+                0.086330346763134
+            ],
+            "target_quat_wxyz": [
+                0.9854418039321899,
+                0.011573461815714836,
+                -0.13155348598957062,
+                0.10707098245620728
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11907771716424448,
+                -0.16712017325056533,
+                -0.10142195873022553,
+                0.16081153768067968,
+                0.025766233423459406,
+                0.07035655876381394,
+                0.08027970582773959
+            ],
+            "target_pos": [
+                0.2731248140335083,
+                -0.20097051560878754,
+                0.08522313088178635
+            ],
+            "target_quat_wxyz": [
+                0.9962303638458252,
+                -0.06108172982931137,
+                0.06112294644117355,
+                -0.007620620541274548
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3364444494247434
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000143_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 144,
+    "colors": {
+        "color_0": "colors/000144_color_0.jpg",
+        "color_2": "colors/000144_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13049623370170593,
+                -0.05916611850261688,
+                -0.006219812668859959,
+                0.09350092709064484,
+                0.11532419919967651,
+                -0.46876153349876404,
+                0.2029610127210617
+            ],
+            "ee_pos": [
+                0.2153959572315216,
+                0.15032649040222168,
+                0.08902867138385773
+            ],
+            "ee_quat_wxyz": [
+                0.9864715933799744,
+                0.015476766973733902,
+                -0.12666378915309906,
+                0.10291031002998352
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1164746880531311,
+                -0.16445952653884888,
+                -0.09631721675395966,
+                0.12886637449264526,
+                0.029756831005215645,
+                0.05152641609311104,
+                0.08861040323972702
+            ],
+            "ee_pos": [
+                0.2714220881462097,
+                -0.19643741846084595,
+                0.09698633849620819
+            ],
+            "ee_quat_wxyz": [
+                0.9977515339851379,
+                -0.05943998694419861,
+                0.03094296343624592,
+                0.0011305203661322594
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051669716835022,
+                -0.12745164334774017,
+                -0.0025712440256029367,
+                0.2622510492801666,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1282044649124146,
+                -0.07311122864484787,
+                0.19578951597213745,
+                0.5041768550872803,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06004926189780235,
+                -0.002847135765478015,
+                -0.07176800072193146,
+                0.1305082142353058,
+                -0.05916611850261688,
+                -0.0062917182222008705,
+                0.09350092709064484,
+                0.11532419919967651,
+                -0.46876153349876404,
+                0.20299169421195984,
+                -0.11748135834932327,
+                -0.16449548304080963,
+                -0.09634118527173996,
+                0.13018463551998138,
+                0.02972087822854519,
+                0.05160311609506607,
+                0.08838798105716705,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13836752461739535,
+                -0.07338964273468582,
+                -0.011446627425701236,
+                0.09152394559669781,
+                0.11954956892401947,
+                -0.46790364595108325,
+                0.20611904518756363
+            ],
+            "target_pos": [
+                0.21356640756130219,
+                0.14641299843788147,
+                0.08647959679365158
+            ],
+            "target_quat_wxyz": [
+                0.9854139089584351,
+                0.0116577772423625,
+                -0.1315382421016693,
+                0.10733672976493835
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12163291860066999,
+                -0.16835639928127372,
+                -0.10032561887369502,
+                0.17417350532454864,
+                0.022722847993925762,
+                0.07144745213618624,
+                0.07938059719232032
+            ],
+            "target_pos": [
+                0.27285778522491455,
+                -0.2010383903980255,
+                0.08311694115400314
+            ],
+            "target_quat_wxyz": [
+                0.9957444071769714,
+                -0.0643232986330986,
+                0.06565114855766296,
+                -0.006748914252966642
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3364444494247434
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000144_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 145,
+    "colors": {
+        "color_0": "colors/000145_color_0.jpg",
+        "color_2": "colors/000145_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13044829666614532,
+                -0.05915413424372673,
+                -0.0076818885281682014,
+                0.09348893910646439,
+                0.11556388437747955,
+                -0.4687538743019104,
+                0.20299935340881348
+            ],
+            "ee_pos": [
+                0.21542929112911224,
+                0.1499665528535843,
+                0.08906126767396927
+            ],
+            "ee_quat_wxyz": [
+                0.9865382313728333,
+                0.01540442556142807,
+                -0.1267452985048294,
+                0.10217936336994171
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12567856907844543,
+                -0.165178582072258,
+                -0.09671270102262497,
+                0.14310362935066223,
+                0.028414597734808922,
+                0.052270397543907166,
+                0.08514361083507538
+            ],
+            "ee_pos": [
+                0.27312102913856506,
+                -0.19667862355709076,
+                0.09611435234546661
+            ],
+            "ee_quat_wxyz": [
+                0.9976328611373901,
+                -0.05987972021102905,
+                0.03380545601248741,
+                -0.0005344214150682092
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0513349771499634,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.2622510492801666,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1282044649124146,
+                -0.07309418171644211,
+                0.19569577276706696,
+                0.5042791366577148,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06003586947917938,
+                -0.0038977039512246847,
+                -0.07261217385530472,
+                0.13044829666614532,
+                -0.05915413424372673,
+                -0.0076818885281682014,
+                0.09348893910646439,
+                0.11556388437747955,
+                -0.4687538743019104,
+                0.20299935340881348,
+                -0.12567856907844543,
+                -0.165178582072258,
+                -0.09671270102262497,
+                0.14310362935066223,
+                0.028414597734808922,
+                0.052270397543907166,
+                0.08514361083507538,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1400475325664619,
+                -0.07399843507455686,
+                -0.012483737591928975,
+                0.08872277713943148,
+                0.12040596456691754,
+                -0.4669674253872521,
+                0.20698367888517905
+            ],
+            "target_pos": [
+                0.21292400360107422,
+                0.14602112770080566,
+                0.08693462610244751
+            ],
+            "target_quat_wxyz": [
+                0.9854052066802979,
+                0.01187365036457777,
+                -0.13134191930294037,
+                0.10763326287269592
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1208378581599642,
+                -0.17070096760476933,
+                -0.09823111072055954,
+                0.18166553007271682,
+                0.019539837389499,
+                0.07076259679465463,
+                0.08002763743735561
+            ],
+            "target_pos": [
+                0.2714773416519165,
+                -0.20141500234603882,
+                0.0823259949684143
+            ],
+            "target_quat_wxyz": [
+                0.9953837990760803,
+                -0.06803862750530243,
+                0.06752581894397736,
+                -0.004707262385636568
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3382222270965576
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000145_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 146,
+    "colors": {
+        "color_0": "colors/000146_color_0.jpg",
+        "color_2": "colors/000146_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1305082142353058,
+                -0.05914214998483658,
+                -0.00854475237429142,
+                0.09339306503534317,
+                0.11547999083995819,
+                -0.46874621510505676,
+                0.2032371312379837
+            ],
+            "ee_pos": [
+                0.21542888879776,
+                0.1497817188501358,
+                0.08908027410507202
+            ],
+            "ee_quat_wxyz": [
+                0.9865636825561523,
+                0.01524816732853651,
+                -0.12678632140159607,
+                0.1019059345126152
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.12902216613292694,
+                -0.16604143381118774,
+                -0.09647301584482193,
+                0.14937138557434082,
+                0.02653307467699051,
+                0.05087447538971901,
+                0.08405448496341705
+            ],
+            "ee_pos": [
+                0.2737312614917755,
+                -0.19682583212852478,
+                0.09572595357894897
+            ],
+            "ee_quat_wxyz": [
+                0.9975311756134033,
+                -0.0610838308930397,
+                0.03463296219706535,
+                -0.0009263011743314564
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512412786483765,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1282044649124146,
+                -0.07310270518064499,
+                0.19561542570590973,
+                0.504193902015686,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06004926189780235,
+                -0.004605699330568314,
+                -0.07310046255588531,
+                0.1305321753025055,
+                -0.05915413424372673,
+                -0.008556736633181572,
+                0.09340505301952362,
+                0.11546801030635834,
+                -0.46874621510505676,
+                0.203260138630867,
+                -0.12927383184432983,
+                -0.1661253273487091,
+                -0.09649698436260223,
+                0.1501743197441101,
+                0.026449184864759445,
+                0.05065971985459328,
+                0.08403147011995316,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14124412749603588,
+                -0.0740668153601776,
+                -0.013051968297517633,
+                0.08677423767312863,
+                0.12077745762899374,
+                -0.4662883591589996,
+                0.20761455772199544
+            ],
+            "target_pos": [
+                0.21283429861068726,
+                0.14621779322624207,
+                0.08697396516799927
+            ],
+            "target_quat_wxyz": [
+                0.9853866100311279,
+                0.01202820148319006,
+                -0.131293386220932,
+                0.1078452467918396
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11659357543990939,
+                -0.17362038392351353,
+                -0.09429976647056382,
+                0.18231326958204275,
+                0.01659725996970776,
+                0.0692652118622963,
+                0.08407679435751936
+            ],
+            "target_pos": [
+                0.26959866285324097,
+                -0.2006656974554062,
+                0.08232861757278442
+            ],
+            "target_quat_wxyz": [
+                0.9951366186141968,
+                -0.07133222371339798,
+                0.06789479404687881,
+                0.0022567263804376125
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3048888957500457
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000146_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 147,
+    "colors": {
+        "color_0": "colors/000147_color_0.jpg",
+        "color_2": "colors/000147_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13056813180446625,
+                -0.059130165725946426,
+                -0.008616657927632332,
+                0.09310544282197952,
+                0.11546801030635834,
+                -0.46874621510505676,
+                0.2038123607635498
+            ],
+            "ee_pos": [
+                0.21541576087474823,
+                0.14980261027812958,
+                0.0891333818435669
+            ],
+            "ee_quat_wxyz": [
+                0.9865214228630066,
+                0.015198050066828728,
+                -0.12690629065036774,
+                0.10217306762933731
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.130975604057312,
+                -0.16770724952220917,
+                -0.09596967697143555,
+                0.1550159603357315,
+                0.025178857147693634,
+                0.04779117554426193,
+                0.08390875160694122
+            ],
+            "ee_pos": [
+                0.2740684747695923,
+                -0.19710594415664673,
+                0.09531667828559875
+            ],
+            "ee_quat_wxyz": [
+                0.9974294900894165,
+                -0.06251988559961319,
+                0.034999217838048935,
+                -0.0008442403632216156
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7252231631952384
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511876344680786,
+                -0.12746016681194305,
+                -0.00258463597856462,
+                0.2622680962085724,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1282178163528442,
+                -0.07311975210905075,
+                0.19560202956199646,
+                0.5042024254798889,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06003586947917938,
+                -0.00469705555588007,
+                -0.07320097088813782,
+                0.1305801123380661,
+                -0.05914214998483658,
+                -0.008616657927632332,
+                0.09306949377059937,
+                0.11549197882413864,
+                -0.4687308669090271,
+                0.2038353830575943,
+                -0.13105948269367218,
+                -0.1679469347000122,
+                -0.09582586586475372,
+                0.15565112233161926,
+                0.025059014558792114,
+                0.04736166074872017,
+                0.08391642570495605,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14213982150313248,
+                -0.07385814673201284,
+                -0.013330341382468431,
+                0.08547486773060048,
+                0.12115872141319753,
+                -0.46582191039078047,
+                0.20818556783508346
+            ],
+            "target_pos": [
+                0.2127888798713684,
+                0.14640775322914124,
+                0.08694726228713989
+            ],
+            "target_quat_wxyz": [
+                0.9853677749633789,
+                0.012487840838730335,
+                -0.13118654489517212,
+                0.10809475183486938
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10892973337377984,
+                -0.17673307139554534,
+                -0.08963546330594335,
+                0.17501403550615646,
+                0.015392185443115543,
+                0.06647425854285825,
+                0.09114590781117253
+            ],
+            "target_pos": [
+                0.2672843337059021,
+                -0.19975976645946503,
+                0.08373314142227173
+            ],
+            "target_quat_wxyz": [
+                0.9951866269111633,
+                -0.07283800095319748,
+                0.06481488794088364,
+                0.009857778437435627
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.1582222378253935
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000147_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 148,
+    "colors": {
+        "color_0": "colors/000148_color_0.jpg",
+        "color_2": "colors/000148_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1306520253419876,
+                -0.059130165725946426,
+                -0.008760469034314156,
+                0.09251821786165237,
+                0.11545602232217789,
+                -0.46873852610588074,
+                0.20418819785118103
+            ],
+            "ee_pos": [
+                0.2154054194688797,
+                0.1497999131679535,
+                0.08924891799688339
+            ],
+            "ee_quat_wxyz": [
+                0.9864742755889893,
+                0.015138483606278896,
+                -0.12715919315814972,
+                0.10232213884592056
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.13048423826694489,
+                -0.17018797993659973,
+                -0.09451958537101746,
+                0.1565139889717102,
+                0.02485528402030468,
+                0.04462350159883499,
+                0.08555011451244354
+            ],
+            "ee_pos": [
+                0.2739773690700531,
+                -0.19728946685791016,
+                0.09523843228816986
+            ],
+            "ee_quat_wxyz": [
+                0.997348964214325,
+                -0.06405990570783615,
+                0.03451301157474518,
+                0.00046616478357464075
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.724841687647821
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511608123779297,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2623448073863983,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1281776428222656,
+                -0.07310270518064499,
+                0.19557523727416992,
+                0.5042194724082947,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06002247706055641,
+                -0.004689441528171301,
+                -0.07321598380804062,
+                0.1306520253419876,
+                -0.05914214998483658,
+                -0.008748484775424004,
+                0.09249424934387207,
+                0.11546801030635834,
+                -0.46873852610588074,
+                0.20426489412784576,
+                -0.13040035963058472,
+                -0.17041568458080292,
+                -0.09442371129989624,
+                0.1565139889717102,
+                0.02485528402030468,
+                0.04433204606175423,
+                0.08570351451635361,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14278045012335686,
+                -0.07349239892679589,
+                -0.01324957432803071,
+                0.08462208552816787,
+                0.12119895562246966,
+                -0.4652606967351183,
+                0.2085480780170242
+            ],
+            "target_pos": [
+                0.21271103620529175,
+                0.14665502309799194,
+                0.08690744638442993
+            ],
+            "target_quat_wxyz": [
+                0.9853870272636414,
+                0.012609662488102913,
+                -0.13074178993701935,
+                0.10844370722770691
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09893104796270098,
+                -0.17913540546749634,
+                -0.08638742615445869,
+                0.1608387573030437,
+                0.020143998512032333,
+                0.06175777619351621,
+                0.1023850320716562
+            ],
+            "target_pos": [
+                0.2648519277572632,
+                -0.19905680418014526,
+                0.0864449143409729
+            ],
+            "target_quat_wxyz": [
+                0.995922327041626,
+                -0.06702516227960587,
+                0.05735873803496361,
+                0.018876953050494194
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.2315555179119109
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000148_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 149,
+    "colors": {
+        "color_0": "colors/000149_color_0.jpg",
+        "color_2": "colors/000149_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13068798184394836,
+                -0.059118181467056274,
+                -0.00894023198634386,
+                0.09229052066802979,
+                0.1155039593577385,
+                -0.4687078595161438,
+                0.2047787755727768
+            ],
+            "ee_pos": [
+                0.21539869904518127,
+                0.14979100227355957,
+                0.08929256349802017
+            ],
+            "ee_quat_wxyz": [
+                0.9864412546157837,
+                0.015103377401828766,
+                -0.1272517889738083,
+                0.10253042727708817
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.1272604912519455,
+                -0.17289641499519348,
+                -0.09284179657697678,
+                0.15329022705554962,
+                0.02527473121881485,
+                0.042989812791347504,
+                0.09133321791887283
+            ],
+            "ee_pos": [
+                0.2733832597732544,
+                -0.1973162144422531,
+                0.09536544233560562
+            ],
+            "ee_quat_wxyz": [
+                0.9972749948501587,
+                -0.06541178375482559,
+                0.033900558948516846,
+                0.003821863327175379
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.6966124971389327
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0510402917861938,
+                -0.1274431198835373,
+                -0.0026382035575807095,
+                0.26232776045799255,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281776428222656,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.5041768550872803,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06004926189780235,
+                -0.0046589975245296955,
+                -0.07326604425907135,
+                0.13071194291114807,
+                -0.05910619720816612,
+                -0.008976184763014317,
+                0.09224258363246918,
+                0.11551594734191895,
+                -0.4687001705169678,
+                0.20476344227790833,
+                -0.12675714492797852,
+                -0.17318403720855713,
+                -0.09280584007501602,
+                0.15283481776714325,
+                0.025298699736595154,
+                0.042974475771188736,
+                0.09200049936771393,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14493508603121602,
+                -0.07329547302103338,
+                -0.013427024286511073,
+                0.08264521352832231,
+                0.12123125149727144,
+                -0.46500278360940756,
+                0.2087802434570698
+            ],
+            "target_pos": [
+                0.21166442334651947,
+                0.14673319458961487,
+                0.08701787889003754
+            ],
+            "target_quat_wxyz": [
+                0.985392689704895,
+                0.012689000926911831,
+                -0.13035185635089874,
+                0.1088516116142273
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.08528038023904239,
+                -0.1799218164260104,
+                -0.08599074309478116,
+                0.13829575316708068,
+                0.03128384874784255,
+                0.05699581316888336,
+                0.1163891962778355
+            ],
+            "target_pos": [
+                0.2610056400299072,
+                -0.19879193603992462,
+                0.09011863172054291
+            ],
+            "target_quat_wxyz": [
+                0.996832013130188,
+                -0.05724768713116646,
+                0.04877275973558426,
+                0.025882598012685776
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000149_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 150,
+    "colors": {
+        "color_0": "colors/000150_color_0.jpg",
+        "color_2": "colors/000150_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13091567158699036,
+                -0.05910619720816612,
+                -0.009419601410627365,
+                0.09166733920574188,
+                0.1155279278755188,
+                -0.46869251132011414,
+                0.20481713116168976
+            ],
+            "ee_pos": [
+                0.2153676152229309,
+                0.1497008353471756,
+                0.08939025551080704
+            ],
+            "ee_quat_wxyz": [
+                0.9864324331283569,
+                0.015053997747600079,
+                -0.12746001780033112,
+                0.10236421227455139
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.11828429996967316,
+                -0.17438246309757233,
+                -0.09303353726863861,
+                0.1416415572166443,
+                0.02822284959256649,
+                0.04259097948670387,
+                0.09919486939907074
+            ],
+            "ee_pos": [
+                0.2716743052005768,
+                -0.1975380778312683,
+                0.09580249339342117
+            ],
+            "ee_quat_wxyz": [
+                0.9973321557044983,
+                -0.0650104433298111,
+                0.03241628035902977,
+                0.007170609198510647
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.531815060654612
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0510804653167725,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26228514313697815,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1282044649124146,
+                -0.07309418171644211,
+                0.19554845988750458,
+                0.5041853785514832,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.05996890738606453,
+                -0.004666607826948166,
+                -0.07326105237007141,
+                0.13091567158699036,
+                -0.05910619720816612,
+                -0.009419601410627365,
+                0.09166733920574188,
+                0.1155279278755188,
+                -0.46869251132011414,
+                0.20481713116168976,
+                -0.11828429996967316,
+                -0.17438246309757233,
+                -0.09303353726863861,
+                0.1416415572166443,
+                0.02822284959256649,
+                0.04259097948670387,
+                0.09919486939907074,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14641920693583688,
+                -0.07311464888720347,
+                -0.013521770992738675,
+                0.08155491348286671,
+                0.12128833673562608,
+                -0.464743693376767,
+                0.2090369674352839
+            ],
+            "target_pos": [
+                0.2117132991552353,
+                0.1468176543712616,
+                0.08681999146938324
+            ],
+            "target_quat_wxyz": [
+                0.9854221343994141,
+                0.012886288575828075,
+                -0.12997621297836304,
+                0.1090107187628746
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07086893209448002,
+                -0.1803117533286948,
+                -0.08721421148932507,
+                0.11306016751417944,
+                0.043443603910391856,
+                0.04933838103289237,
+                0.13041742859881528
+            ],
+            "target_pos": [
+                0.2582356333732605,
+                -0.19866780936717987,
+                0.0937419980764389
+            ],
+            "target_quat_wxyz": [
+                0.997379720211029,
+                -0.053647954016923904,
+                0.036541447043418884,
+                0.03194163739681244
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000150_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 151,
+    "colors": {
+        "color_0": "colors/000151_color_0.jpg",
+        "color_2": "colors/000151_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13186243176460266,
+                -0.05909421294927597,
+                -0.009275790303945541,
+                0.09133177995681763,
+                0.11545602232217789,
+                -0.4686618447303772,
+                0.2056761533021927
+            ],
+            "ee_pos": [
+                0.21516475081443787,
+                0.14984342455863953,
+                0.08926459401845932
+            ],
+            "ee_quat_wxyz": [
+                0.986405074596405,
+                0.015044319443404675,
+                -0.12715904414653778,
+                0.10300134867429733
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.10698317736387253,
+                -0.17674335837364197,
+                -0.09338108450174332,
+                0.12660135328769684,
+                0.034023214131593704,
+                0.04159389063715935,
+                0.11080710589885712
+            ],
+            "ee_pos": [
+                0.26951828598976135,
+                -0.19781498610973358,
+                0.09654268622398376
+            ],
+            "ee_quat_wxyz": [
+                0.9974376559257507,
+                -0.06375277787446976,
+                0.030062144622206688,
+                0.012244410812854767
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.2834744792858785
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051375150680542,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.2622595727443695,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1282044649124146,
+                -0.07311122864484787,
+                0.19566898047924042,
+                0.504270613193512,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05984838306903839,
+                -0.004499122500419617,
+                -0.07313033193349838,
+                0.13193432986736298,
+                -0.059070244431495667,
+                -0.009227853268384933,
+                0.09127186238765717,
+                0.11544404178857803,
+                -0.4686618447303772,
+                0.20576052367687225,
+                -0.10556904226541519,
+                -0.17701898515224457,
+                -0.09329719096422195,
+                0.12477975338697433,
+                0.034598458558321,
+                0.04157088324427605,
+                0.11176584661006927,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14740608700700147,
+                -0.07297186843803122,
+                -0.013760842315852732,
+                0.080945969473704,
+                0.12128302646504863,
+                -0.4643466727970351,
+                0.20919954212082906
+            ],
+            "target_pos": [
+                0.21172480285167694,
+                0.14676985144615173,
+                0.0867156833410263
+            ],
+            "target_quat_wxyz": [
+                0.9855021834373474,
+                0.012897509150207043,
+                -0.1295289844274521,
+                0.10881796479225159
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05609455598081835,
+                -0.1803377258793298,
+                -0.09004023268916132,
+                0.08695092207282264,
+                0.05606226613185409,
+                0.037507976084579314,
+                0.14383653990254414
+            ],
+            "target_pos": [
+                0.2553529739379883,
+                -0.19889211654663086,
+                0.0977165549993515
+            ],
+            "target_quat_wxyz": [
+                0.9978776574134827,
+                -0.04953354224562645,
+                0.020897479727864265,
+                0.03674103692173958
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000151_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 152,
+    "colors": {
+        "color_0": "colors/000152_color_0.jpg",
+        "color_2": "colors/000152_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13238973915576935,
+                -0.059058260172605515,
+                -0.009371664375066757,
+                0.09122392535209656,
+                0.11546801030635834,
+                -0.46863114833831787,
+                0.20633576810359955
+            ],
+            "ee_pos": [
+                0.21505162119865417,
+                0.1498912125825882,
+                0.08917843550443649
+            ],
+            "ee_quat_wxyz": [
+                0.9863951802253723,
+                0.015046823769807816,
+                -0.12695571780204773,
+                0.10334623605012894
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.09119995683431625,
+                -0.1779058277606964,
+                -0.09306949377059937,
+                0.1065397635102272,
+                0.04265185818076134,
+                0.03966107591986656,
+                0.12438283860683441
+            ],
+            "ee_pos": [
+                0.26648834347724915,
+                -0.197665274143219,
+                0.09730260819196701
+            ],
+            "ee_quat_wxyz": [
+                0.9976135492324829,
+                -0.06081637367606163,
+                0.026892881840467453,
+                0.01858283206820488
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.1636911573968103
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519510507583618,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281909942626953,
+                -0.07310270518064499,
+                0.19573594629764557,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05963411182165146,
+                -0.0042935749515891075,
+                -0.07292414456605911,
+                0.1324256956577301,
+                -0.059058260172605515,
+                -0.009371664375066757,
+                0.09119995683431625,
+                0.11556388437747955,
+                -0.46863114833831787,
+                0.20622839033603668,
+                -0.0893663689494133,
+                -0.17796574532985687,
+                -0.09292568266391754,
+                0.10443054139614105,
+                0.043478768318891525,
+                0.0393235981464386,
+                0.12595516443252563,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14784146424595337,
+                -0.07283796714633177,
+                -0.014197824076865123,
+                0.08056128561448414,
+                0.12133746832812992,
+                -0.4638159025035538,
+                0.2092650338767093
+            ],
+            "target_pos": [
+                0.21177802979946136,
+                0.14663004875183105,
+                0.08678744733333588
+            ],
+            "target_quat_wxyz": [
+                0.9855695962905884,
+                0.01294481661170721,
+                -0.12935422360897064,
+                0.10840868204832077
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04159157239106292,
+                -0.18063262700432448,
+                -0.09464635742295605,
+                0.06023370683415791,
+                0.07149985059707653,
+                0.024464779029640532,
+                0.1589202150794099
+            ],
+            "target_pos": [
+                0.2525143623352051,
+                -0.19963496923446655,
+                0.10219083726406097
+            ],
+            "target_quat_wxyz": [
+                0.9981688857078552,
+                -0.04135819151997566,
+                0.005761100444942713,
+                0.043762195855379105
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000152_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 153,
+    "colors": {
+        "color_0": "colors/000153_color_0.jpg",
+        "color_2": "colors/000153_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1327732354402542,
+                -0.059058260172605515,
+                -0.009563411585986614,
+                0.0911640003323555,
+                0.1155518963932991,
+                -0.46862348914146423,
+                0.2063971310853958
+            ],
+            "ee_pos": [
+                0.2149752527475357,
+                0.1498681604862213,
+                0.08911503851413727
+            ],
+            "ee_quat_wxyz": [
+                0.9864160418510437,
+                0.01508212462067604,
+                -0.12680885195732117,
+                0.10332183539867401
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.07202519476413727,
+                -0.17802566289901733,
+                -0.09317734837532043,
+                0.08653809130191803,
+                0.054432351142168045,
+                0.03426146134734154,
+                0.1401214748620987
+            ],
+            "ee_pos": [
+                0.2627147138118744,
+                -0.1974591463804245,
+                0.09753365069627762
+            ],
+            "ee_quat_wxyz": [
+                0.9978268146514893,
+                -0.055956050753593445,
+                0.023506421595811844,
+                0.02565150521695614
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.9706645304036012
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522724390029907,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250059962272644,
+                0.009692373685538769,
+                -1.1283116340637207,
+                -0.07311975210905075,
+                0.19584308564662933,
+                0.5042791366577148,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.05954036861658096,
+                -0.004011895041912794,
+                -0.0726977214217186,
+                0.13284513354301453,
+                -0.05904627591371536,
+                -0.00953944306820631,
+                0.09108011424541473,
+                0.1155279278755188,
+                -0.46863114833831787,
+                0.20643547177314758,
+                -0.07058708369731903,
+                -0.17801368236541748,
+                -0.09317734837532043,
+                0.08471649140119553,
+                0.055451009422540665,
+                0.033816609531641006,
+                0.14122594892978668,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14788299892935128,
+                -0.07274852787666453,
+                -0.014765195505266296,
+                0.0805884470863864,
+                0.12112875545921581,
+                -0.46342844525906723,
+                0.20891585843859145
+            ],
+            "target_pos": [
+                0.21176038682460785,
+                0.14643594622612,
+                0.08673618733882904
+            ],
+            "target_quat_wxyz": [
+                0.9856793880462646,
+                0.012575018219649792,
+                -0.12920081615447998,
+                0.10763461887836456
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.025719832916247846,
+                -0.1813932252399147,
+                -0.09884371968378271,
+                0.03267509174774828,
+                0.08597747825707254,
+                0.006106201242783082,
+                0.17421685423110692
+            ],
+            "target_pos": [
+                0.24862723052501678,
+                -0.19977182149887085,
+                0.10693763196468353
+            ],
+            "target_quat_wxyz": [
+                0.9978505969047546,
+                -0.039186492562294006,
+                -0.014116663485765457,
+                0.05059000849723816
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000153_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 154,
+    "colors": {
+        "color_0": "colors/000154_color_0.jpg",
+        "color_2": "colors/000154_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13308481872081757,
+                -0.05903429538011551,
+                -0.009695238433778286,
+                0.09100820869207382,
+                0.11549197882413864,
+                -0.4685697853565216,
+                0.2067192643880844
+            ],
+            "ee_pos": [
+                0.21491223573684692,
+                0.1498798280954361,
+                0.0890820175409317
+            ],
+            "ee_quat_wxyz": [
+                0.9864129424095154,
+                0.015047198161482811,
+                -0.1267157346010208,
+                0.10347096621990204
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.05259876325726509,
+                -0.1780376434326172,
+                -0.0932612419128418,
+                0.06600911170244217,
+                0.06729142367839813,
+                0.027504276484251022,
+                0.15672682225704193
+            ],
+            "ee_pos": [
+                0.2588721811771393,
+                -0.19714383780956268,
+                0.0980331227183342
+            ],
+            "ee_quat_wxyz": [
+                0.9979771971702576,
+                -0.05069629102945328,
+                0.01918349601328373,
+                0.03321775421500206
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8466849774929432
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525401830673218,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.2622510492801666,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1286463737487793,
+                -0.07310270518064499,
+                0.19596360623836517,
+                0.5041683316230774,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.059741247445344925,
+                -0.003090740879997611,
+                -0.07195880264043808,
+                0.13309679925441742,
+                -0.05902231112122536,
+                -0.009743175469338894,
+                0.09093630313873291,
+                0.11556388437747955,
+                -0.46856212615966797,
+                0.20659653842449188,
+                -0.048703890293836594,
+                -0.17801368236541748,
+                -0.09329719096422195,
+                0.062305986881256104,
+                0.07083875685930252,
+                0.02487349882721901,
+                0.1596720665693283,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14790459916707732,
+                -0.07249561760234305,
+                -0.015693633965169707,
+                0.08094633487274377,
+                0.12087295880650409,
+                -0.463376646757361,
+                0.20804397708906788
+            ],
+            "target_pos": [
+                0.21178726851940155,
+                0.1461411416530609,
+                0.0865536779165268
+            ],
+            "target_quat_wxyz": [
+                0.9858626127243042,
+                0.012595390900969505,
+                -0.12908527255058289,
+                0.10608144104480743
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.006349356336864682,
+                -0.19400314273999908,
+                -0.09534176515569595,
+                -0.008926027909941743,
+                0.10611838503446294,
+                -0.04201227661911287,
+                0.21868194799047336
+            ],
+            "target_pos": [
+                0.23549287021160126,
+                -0.1979498267173767,
+                0.11671231687068939
+            ],
+            "target_quat_wxyz": [
+                0.9906136989593506,
+                -0.05211425572633743,
+                -0.0661269873380661,
+                0.10768388211727142
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000154_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 155,
+    "colors": {
+        "color_0": "colors/000155_color_0.jpg",
+        "color_2": "colors/000155_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13308481872081757,
+                -0.058950405567884445,
+                -0.011025487445294857,
+                0.09078050404787064,
+                0.11570769548416138,
+                -0.4684777557849884,
+                0.20637410879135132
+            ],
+            "ee_pos": [
+                0.21494154632091522,
+                0.14955230057239532,
+                0.08914350718259811
+            ],
+            "ee_quat_wxyz": [
+                0.9864863157272339,
+                0.0150383859872818,
+                -0.12683343887329102,
+                0.10262476652860641
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.02672482281923294,
+                -0.1799791008234024,
+                -0.09333314746618271,
+                0.03936817869544029,
+                0.08450077474117279,
+                0.0071023316122591496,
+                0.18300391733646393
+            ],
+            "ee_pos": [
+                0.2537013292312622,
+                -0.1967923492193222,
+                0.09984901547431946
+            ],
+            "ee_quat_wxyz": [
+                0.9978929758071899,
+                -0.04547877609729767,
+                0.008107498288154602,
+                0.04555791988968849
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8085374227512023
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0530357360839844,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.129141926765442,
+                -0.07311122864484787,
+                0.19605734944343567,
+                0.5042365193367004,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05937966704368591,
+                -0.0020706336945295334,
+                -0.07132594287395477,
+                0.1332286298274994,
+                -0.05893842130899429,
+                -0.011085408739745617,
+                0.09030113369226456,
+                0.11575563251972198,
+                -0.4685007631778717,
+                0.20641246438026428,
+                -0.023501066491007805,
+                -0.1804584562778473,
+                -0.09338108450174332,
+                0.03598862886428833,
+                0.08708936721086502,
+                0.0019174760673195124,
+                0.18733741343021393,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14791563737366575,
+                -0.07223360116392742,
+                -0.016559377463078808,
+                0.08129476743727862,
+                0.12038935977666153,
+                -0.463384546750069,
+                0.2071883923281873
+            ],
+            "target_pos": [
+                0.21180306375026703,
+                0.14604565501213074,
+                0.08649848401546478
+            ],
+            "target_quat_wxyz": [
+                0.9859398603439331,
+                0.01224712934345007,
+                -0.12895414233207703,
+                0.10556228458881378
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.03705305446444232,
+                -0.2071345012375346,
+                -0.09292004621523331,
+                -0.051450073237878854,
+                0.1321039459486692,
+                -0.08108139154415767,
+                0.2668496787773612
+            ],
+            "target_pos": [
+                0.2300368994474411,
+                -0.19778312742710114,
+                0.12272308766841888
+            ],
+            "target_quat_wxyz": [
+                0.9871143698692322,
+                -0.045186467468738556,
+                -0.08146467059850693,
+                0.13010340929031372
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000155_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 156,
+    "colors": {
+        "color_0": "colors/000156_color_0.jpg",
+        "color_2": "colors/000156_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13388776779174805,
+                -0.05891445279121399,
+                -0.011301124468445778,
+                0.08965399116277695,
+                0.11553991585969925,
+                -0.4682936668395996,
+                0.20656585693359375
+            ],
+            "ee_pos": [
+                0.2147967517375946,
+                0.14957261085510254,
+                0.08921586722135544
+            ],
+            "ee_quat_wxyz": [
+                0.9864627122879028,
+                0.014957446604967117,
+                -0.12692031264305115,
+                0.10275591164827347
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0036432044580578804,
+                -0.18701383471488953,
+                -0.09323727339506149,
+                0.002960103563964367,
+                0.10807374119758606,
+                -0.02738155797123909,
+                0.22189800441265106
+            ],
+            "ee_pos": [
+                0.2474898397922516,
+                -0.1964901238679886,
+                0.10460461676120758
+            ],
+            "ee_quat_wxyz": [
+                0.9969508051872253,
+                -0.04176236689090729,
+                -0.012717257253825665,
+                0.06467811018228531
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7692454413672092
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053397297859192,
+                -0.12745164334774017,
+                -0.00258463597856462,
+                0.2622510492801666,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1297177076339722,
+                -0.07311122864484787,
+                0.19616448879241943,
+                0.5042194724082947,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05927253141999245,
+                -0.001446384470909834,
+                -0.0709545910358429,
+                0.13403157889842987,
+                -0.05890246853232384,
+                -0.011181281879544258,
+                0.0893903374671936,
+                0.11565975844860077,
+                -0.4682936668395996,
+                0.2063971310853958,
+                0.006663229316473007,
+                -0.18786472082138062,
+                -0.09312941133975983,
+                -0.0008269115351140499,
+                0.11021891981363297,
+                -0.03150796517729759,
+                0.22686809301376343,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14790290170951523,
+                -0.07186533761286022,
+                -0.017280759670793462,
+                0.08167919722509506,
+                0.12020806885968738,
+                -0.4634754687076172,
+                0.20657310720623784
+            ],
+            "target_pos": [
+                0.21183328330516815,
+                0.1459784209728241,
+                0.08642540872097015
+            ],
+            "target_quat_wxyz": [
+                0.9859752058982849,
+                0.012630914337933064,
+                -0.12903018295764923,
+                0.10509293526411057
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06566930736586533,
+                -0.21852199401138062,
+                -0.09205193637353024,
+                -0.09365857531449881,
+                0.16389134816233905,
+                -0.1079699820697286,
+                0.3139718912005095
+            ],
+            "target_pos": [
+                0.2246638387441635,
+                -0.19733618199825287,
+                0.1282198280096054
+            ],
+            "target_quat_wxyz": [
+                0.9839526414871216,
+                -0.03359396755695343,
+                -0.09230613708496094,
+                0.14895692467689514
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000156_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 157,
+    "colors": {
+        "color_0": "colors/000157_color_0.jpg",
+        "color_2": "colors/000157_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1345708668231964,
+                -0.05881857872009277,
+                -0.011744541116058826,
+                0.08899485319852829,
+                0.11546801030635834,
+                -0.46823999285697937,
+                0.20655052363872528
+            ],
+            "ee_pos": [
+                0.21467146277427673,
+                0.14953447878360748,
+                0.08922309428453445
+            ],
+            "ee_quat_wxyz": [
+                0.986475944519043,
+                0.014941845089197159,
+                -0.12690764665603638,
+                0.10264680534601212
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.03392734006047249,
+                -0.1967570036649704,
+                -0.09251821786165237,
+                -0.038780953735113144,
+                0.13552960753440857,
+                -0.06288554519414902,
+                0.2676336467266083
+            ],
+            "ee_pos": [
+                0.24098706245422363,
+                -0.19581104815006256,
+                0.11099978536367416
+            ],
+            "ee_quat_wxyz": [
+                0.9946680068969727,
+                -0.03901157155632973,
+                -0.0368015430867672,
+                0.08808714896440506
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.053276777267456,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.12977135181427,
+                -0.07310270518064499,
+                0.19615109264850616,
+                0.5041768550872803,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.05954036861658096,
+                -0.0013169682351872325,
+                -0.07083921879529953,
+                0.13461880385875702,
+                -0.058830562978982925,
+                -0.01158874575048685,
+                0.08883906155824661,
+                0.11546801030635834,
+                -0.46823233366012573,
+                0.2065581977367401,
+                0.0376184843480587,
+                -0.19764384627342224,
+                -0.09256615489721298,
+                -0.04280765354633331,
+                0.13828597962856293,
+                -0.06654409319162369,
+                0.2728951871395111,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14787798364768842,
+                -0.07155902889934149,
+                -0.017837322178850784,
+                0.08191775790818652,
+                0.11999862808209379,
+                -0.4634162740978246,
+                0.20613889251361983
+            ],
+            "target_pos": [
+                0.21186189353466034,
+                0.14591649174690247,
+                0.08638904988765717
+            ],
+            "target_quat_wxyz": [
+                0.9860283732414246,
+                0.012490355409681797,
+                -0.1289004385471344,
+                0.10476988554000854
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09192192322733941,
+                -0.23240922265242075,
+                -0.08980068017416498,
+                -0.13235416681242648,
+                0.19808696641028195,
+                -0.12319828218383234,
+                0.36376834392720275
+            ],
+            "target_pos": [
+                0.21896646916866302,
+                -0.196150541305542,
+                0.1321401447057724
+            ],
+            "target_quat_wxyz": [
+                0.9783290028572083,
+                -0.029547516256570816,
+                -0.09770481288433075,
+                0.18014739453792572
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000157_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 158,
+    "colors": {
+        "color_0": "colors/000158_color_0.jpg",
+        "color_2": "colors/000158_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13465476036071777,
+                -0.05879461020231247,
+                -0.012163988314568996,
+                0.08863533288240433,
+                0.1155518963932991,
+                -0.46817097067832947,
+                0.20640479028224945
+            ],
+            "ee_pos": [
+                0.21466873586177826,
+                0.1494373083114624,
+                0.08928615599870682
+            ],
+            "ee_quat_wxyz": [
+                0.9864881634712219,
+                0.014945912174880505,
+                -0.12702730298042297,
+                0.10238079726696014
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.061898522078990936,
+                -0.2096879929304123,
+                -0.0909123346209526,
+                -0.08246345072984695,
+                0.16606540977954865,
+                -0.09226127713918686,
+                0.31760308146476746
+            ],
+            "ee_pos": [
+                0.23459935188293457,
+                -0.19484813511371613,
+                0.11806326359510422
+            ],
+            "ee_quat_wxyz": [
+                0.9908913373947144,
+                -0.03714553266763687,
+                -0.05990759655833244,
+                0.11474143713712692
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052754521369934,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1292088031768799,
+                -0.07311975210905075,
+                0.1960841417312622,
+                0.5042535662651062,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.05994212627410889,
+                -0.0016290917992591858,
+                -0.07107501477003098,
+                0.13467872142791748,
+                -0.05878262594342232,
+                -0.01212803553789854,
+                0.08852747082710266,
+                0.11570769548416138,
+                -0.46817097067832947,
+                0.20622839033603668,
+                0.06489457935094833,
+                -0.21109014749526978,
+                -0.09098424017429352,
+                -0.08652610331773758,
+                0.1690494865179062,
+                -0.09509914368391037,
+                0.32182151079177856,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1475478873741063,
+                -0.0714683781013537,
+                -0.01821025478573685,
+                0.08036773087861049,
+                0.11957272994602292,
+                -0.4619441475519267,
+                0.20570937505034087
+            ],
+            "target_pos": [
+                0.2121560275554657,
+                0.14587745070457458,
+                0.08728433400392532
+            ],
+            "target_quat_wxyz": [
+                0.9860426783561707,
+                0.011992568150162697,
+                -0.12899014353752136,
+                0.10458283871412277
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11454835333427246,
+                -0.24901411668835347,
+                -0.0853158717359732,
+                -0.16640560714671654,
+                0.22846629244084302,
+                -0.1283443470224242,
+                0.4116595307626594
+            ],
+            "target_pos": [
+                0.21360114216804504,
+                -0.19424141943454742,
+                0.13558794558048248
+            ],
+            "target_quat_wxyz": [
+                0.9713597297668457,
+                -0.032577995210886,
+                -0.1006239578127861,
+                0.21277636289596558
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000158_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 159,
+    "colors": {
+        "color_0": "colors/000159_color_0.jpg",
+        "color_2": "colors/000159_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13466674089431763,
+                -0.05874667316675186,
+                -0.012655341997742653,
+                0.0884435847401619,
+                0.11564777046442032,
+                -0.4680405855178833,
+                0.20611333847045898
+            ],
+            "ee_pos": [
+                0.21468231081962585,
+                0.14931310713291168,
+                0.08932178467512131
+            ],
+            "ee_quat_wxyz": [
+                0.9865226745605469,
+                0.01497076265513897,
+                -0.1270705908536911,
+                0.10198969393968582
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08391354233026505,
+                -0.22490794956684113,
+                -0.0900135189294815,
+                -0.1215679794549942,
+                0.19599002599716187,
+                -0.10954157263040543,
+                0.36102238297462463
+            ],
+            "ee_pos": [
+                0.22927501797676086,
+                -0.19437667727470398,
+                0.12454212456941605
+            ],
+            "ee_quat_wxyz": [
+                0.9866485595703125,
+                -0.03601335361599922,
+                -0.07766295969486237,
+                0.1385502815246582
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520447492599487,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1283249855041504,
+                -0.07311122864484787,
+                0.19593682885169983,
+                0.5043047070503235,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.05996890738606453,
+                -0.0018346544820815325,
+                -0.07176177203655243,
+                0.13467872142791748,
+                -0.05873468890786171,
+                -0.012643357738852501,
+                0.08823984861373901,
+                0.11570769548416138,
+                -0.46804824471473694,
+                0.20612101256847382,
+                0.08762865513563156,
+                -0.2275325059890747,
+                -0.0899895504117012,
+                -0.12750017642974854,
+                0.19994480907917023,
+                -0.11222603917121887,
+                0.36873066425323486,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14766599295978064,
+                -0.07138236984022073,
+                -0.018667926688230158,
+                0.07901626133495182,
+                0.11904835841588389,
+                -0.46100932306552056,
+                0.20504748545196264
+            ],
+            "target_pos": [
+                0.2119644582271576,
+                0.14579486846923828,
+                0.08723164349794388
+            ],
+            "target_quat_wxyz": [
+                0.9861194491386414,
+                0.011718363501131535,
+                -0.12895801663398743,
+                0.10392783582210541
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.13659883334425327,
+                -0.26773043567910637,
+                -0.0776645526055677,
+                -0.1972840554746654,
+                0.2567144581213893,
+                -0.12987854453453848,
+                0.4594375736556406
+            ],
+            "target_pos": [
+                0.2084028422832489,
+                -0.191985085606575,
+                0.1375957876443863
+            ],
+            "target_quat_wxyz": [
+                0.9643381834030151,
+                -0.030503131449222565,
+                -0.10039743036031723,
+                0.24298514425754547
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000159_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 160,
+    "colors": {
+        "color_0": "colors/000160_color_0.jpg",
+        "color_2": "colors/000160_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13470269739627838,
+                -0.05872270464897156,
+                -0.012978916056454182,
+                0.08768857270479202,
+                0.11551594734191895,
+                -0.4679638743400574,
+                0.20617470145225525
+            ],
+            "ee_pos": [
+                0.21469131112098694,
+                0.14926089346408844,
+                0.0894799456000328
+            ],
+            "ee_quat_wxyz": [
+                0.9864903688430786,
+                0.014857441186904907,
+                -0.12739385664463043,
+                0.10191550850868225
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1059165820479393,
+                -0.24416659772396088,
+                -0.08698150515556335,
+                -0.1600133776664734,
+                0.2272089272737503,
+                -0.120785653591156,
+                0.41298601031303406
+            ],
+            "ee_pos": [
+                0.22368624806404114,
+                -0.19335360825061798,
+                0.13039502501487732
+            ],
+            "ee_quat_wxyz": [
+                0.9808104634284973,
+                -0.03615700453519821,
+                -0.09149803966283798,
+                0.16832013428211212
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0510001182556152,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1282579898834229,
+                -0.07311122864484787,
+                0.19570916891098022,
+                0.5042961835861206,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.05999569222331047,
+                -0.0021772433537989855,
+                -0.07254887372255325,
+                0.1347266584634781,
+                -0.05873468890786171,
+                -0.012942963279783726,
+                0.0875447690486908,
+                0.11546801030635834,
+                -0.467971533536911,
+                0.20615169405937195,
+                0.10864898562431335,
+                -0.2464316189289093,
+                -0.08677777647972107,
+                -0.16321316361427307,
+                0.2295818030834198,
+                -0.1218671128153801,
+                0.41720443964004517,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14807395457222433,
+                -0.07129134994103613,
+                -0.019297543696817642,
+                0.07809034949406495,
+                0.11888212484089875,
+                -0.4607652520886393,
+                0.20453446281565937
+            ],
+            "target_pos": [
+                0.21179762482643127,
+                0.14561519026756287,
+                0.08714986592531204
+            ],
+            "target_quat_wxyz": [
+                0.9861374497413635,
+                0.01197600457817316,
+                -0.12921960651874542,
+                0.10340103507041931
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.15764043647466458,
+                -0.2867311726358812,
+                -0.06794614432291521,
+                -0.22586568514257183,
+                0.28561065462260976,
+                -0.12520460043656081,
+                0.5072148925424708
+            ],
+            "target_pos": [
+                0.20344194769859314,
+                -0.18919746577739716,
+                0.1389562040567398
+            ],
+            "target_quat_wxyz": [
+                0.9567809700965881,
+                -0.022744346410036087,
+                -0.09604942798614502,
+                0.273546040058136
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000160_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 161,
+    "colors": {
+        "color_0": "colors/000161_color_0.jpg",
+        "color_2": "colors/000161_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13470269739627838,
+                -0.05872270464897156,
+                -0.01378185860812664,
+                0.08689761906862259,
+                0.11559983342885971,
+                -0.4679638743400574,
+                0.20586790144443512
+            ],
+            "ee_pos": [
+                0.21471774578094482,
+                0.1490601748228073,
+                0.0896684005856514
+            ],
+            "ee_quat_wxyz": [
+                0.9864915609359741,
+                0.014787851832807064,
+                -0.12781020998954773,
+                0.10139153152704239
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1258103996515274,
+                -0.2615557014942169,
+                -0.08276306092739105,
+                -0.18939869105815887,
+                0.25425732135772705,
+                -0.12455924600362778,
+                0.45543891191482544
+            ],
+            "ee_pos": [
+                0.21872812509536743,
+                -0.1923738270998001,
+                0.13383544981479645
+            ],
+            "ee_quat_wxyz": [
+                0.9755410552024841,
+                -0.03530481085181236,
+                -0.09802407026290894,
+                0.19355759024620056
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506787300109863,
+                -0.12745164334774017,
+                -0.0025712440256029367,
+                0.26242148876190186,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1282044649124146,
+                -0.07311122864484787,
+                0.19561542570590973,
+                0.5043302774429321,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06029031425714493,
+                -0.0026111805345863104,
+                -0.0731561928987503,
+                0.13470269739627838,
+                -0.05873468890786171,
+                -0.01390170119702816,
+                0.08665793389081955,
+                0.11564777046442032,
+                -0.467971533536911,
+                0.20576052367687225,
+                0.12966932356357574,
+                -0.2643001079559326,
+                -0.08229567110538483,
+                -0.19412048161029816,
+                0.2584637999534607,
+                -0.12457458674907684,
+                0.4630781412124634,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14696005148282365,
+                -0.0713068245829522,
+                -0.019752927540133622,
+                0.07820156069036711,
+                0.1188027586950948,
+                -0.45997486205860993,
+                0.20432027735414043
+            ],
+            "target_pos": [
+                0.2126435786485672,
+                0.1453479677438736,
+                0.08734399080276489
+            ],
+            "target_quat_wxyz": [
+                0.9861780405044556,
+                0.011724360287189484,
+                -0.1292039155960083,
+                0.10306204855442047
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.17532032095378386,
+                -0.3051719144037326,
+                -0.05624627894656711,
+                -0.2497994421730338,
+                0.311619112259758,
+                -0.11918308919669982,
+                0.5525820198788635
+            ],
+            "target_pos": [
+                0.1996348649263382,
+                -0.1860312670469284,
+                0.1397077441215515
+            ],
+            "target_quat_wxyz": [
+                0.9479649066925049,
+                -0.020236117765307426,
+                -0.09370267391204834,
+                0.3035997450351715
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000161_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 162,
+    "colors": {
+        "color_0": "colors/000162_color_0.jpg",
+        "color_2": "colors/000162_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13471467792987823,
+                -0.058710720390081406,
+                -0.014213290996849537,
+                0.08628641813993454,
+                0.11562380194664001,
+                -0.4678795039653778,
+                0.205561101436615
+            ],
+            "ee_pos": [
+                0.21473529934883118,
+                0.1489519625902176,
+                0.08980106562376022
+            ],
+            "ee_quat_wxyz": [
+                0.9864923357963562,
+                0.014754550531506538,
+                -0.12807691097259521,
+                0.10105156898498535
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1480531245470047,
+                -0.2808862626552582,
+                -0.07484148442745209,
+                -0.2190956026315689,
+                0.28470924496650696,
+                -0.12372322380542755,
+                0.5064437985420227
+            ],
+            "ee_pos": [
+                0.21310843527317047,
+                -0.19036543369293213,
+                0.13633626699447632
+            ],
+            "ee_quat_wxyz": [
+                0.9685673713684082,
+                -0.03281647339463234,
+                -0.10093817114830017,
+                0.22497060894966125
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506118535995483,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.2624044418334961,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1282044649124146,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.5042961835861206,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06081259995698929,
+                -0.003037508577108383,
+                -0.07352806627750397,
+                0.13471467792987823,
+                -0.058710720390081406,
+                -0.014213290996849537,
+                0.08628641813993454,
+                0.11562380194664001,
+                -0.4678795039653778,
+                0.205561101436615,
+                0.1480531245470047,
+                -0.2808862626552582,
+                -0.07484148442745209,
+                -0.2190956026315689,
+                0.28470924496650696,
+                -0.12372322380542755,
+                0.5064437985420227,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14657148476026766,
+                -0.07142920975917563,
+                -0.020262160667997936,
+                0.07839189969456842,
+                0.11885986375899901,
+                -0.4599181297444843,
+                0.2042278252182369
+            ],
+            "target_pos": [
+                0.21239347755908966,
+                0.14521436393260956,
+                0.08731108903884888
+            ],
+            "target_quat_wxyz": [
+                0.9861675500869751,
+                0.01157769002020359,
+                -0.1294066160917282,
+                0.10292452573776245
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1917402537219214,
+                -0.32231021431377865,
+                -0.04359744299276422,
+                -0.27048161302223306,
+                0.33553114225486896,
+                -0.11105094368134677,
+                0.5955894396705912
+            ],
+            "target_pos": [
+                0.19533808529376984,
+                -0.18289780616760254,
+                0.13947361707687378
+            ],
+            "target_quat_wxyz": [
+                0.9393547773361206,
+                -0.016037045046687126,
+                -0.08796856552362442,
+                0.3310844600200653
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000162_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 163,
+    "colors": {
+        "color_0": "colors/000163_color_0.jpg",
+        "color_2": "colors/000163_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13471467792987823,
+                -0.058698736131191254,
+                -0.014345117844641209,
+                0.08614261448383331,
+                0.11556388437747955,
+                -0.46787184476852417,
+                0.20540770888328552
+            ],
+            "ee_pos": [
+                0.21474073827266693,
+                0.14891940355300903,
+                0.08983387053012848
+            ],
+            "ee_quat_wxyz": [
+                0.9864968657493591,
+                0.014720860868692398,
+                -0.12814487516880035,
+                0.10092620551586151
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16834241151809692,
+                -0.2994498312473297,
+                -0.06246178224682808,
+                -0.24265658855438232,
+                0.3130519390106201,
+                -0.1211538091301918,
+                0.5508372187614441
+            ],
+            "ee_pos": [
+                0.20795361697673798,
+                -0.1876823902130127,
+                0.1374305933713913
+            ],
+            "ee_quat_wxyz": [
+                0.9613337516784668,
+                -0.028786802664399147,
+                -0.10045574605464935,
+                0.2547888159751892
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506118535995483,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2624896764755249,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128110647201538,
+                -0.07309418171644211,
+                0.19552168250083923,
+                0.5042961835861206,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.061080437153577805,
+                -0.0032126058358699083,
+                -0.07369387149810791,
+                0.13471467792987823,
+                -0.058698736131191254,
+                -0.014345117844641209,
+                0.08614261448383331,
+                0.11556388437747955,
+                -0.46787184476852417,
+                0.20540770888328552,
+                0.16834241151809692,
+                -0.2994498312473297,
+                -0.06246178224682808,
+                -0.24265658855438232,
+                0.3130519390106201,
+                -0.1211538091301918,
+                0.5508372187614441,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14541816231229998,
+                -0.07191537609968827,
+                -0.020642402640060516,
+                0.07955233645629907,
+                0.11915915486030526,
+                -0.46009772755776696,
+                0.20468245445021255
+            ],
+            "target_pos": [
+                0.21283651888370514,
+                0.14483803510665894,
+                0.08715996146202087
+            ],
+            "target_quat_wxyz": [
+                0.9861099123954773,
+                0.011250030249357224,
+                -0.1297193169593811,
+                0.10311932116746902
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.20586929752083694,
+                -0.340513488689142,
+                -0.02870039887117776,
+                -0.28592716899829473,
+                0.35373237138196517,
+                -0.10626247456067382,
+                0.6374271236390068
+            ],
+            "target_pos": [
+                0.19156081974506378,
+                -0.1797083616256714,
+                0.13840541243553162
+            ],
+            "target_quat_wxyz": [
+                0.928839921951294,
+                -0.018562152981758118,
+                -0.08342716842889786,
+                0.36048826575279236
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000163_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 164,
+    "colors": {
+        "color_0": "colors/000164_color_0.jpg",
+        "color_2": "colors/000164_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13470269739627838,
+                -0.058698736131191254,
+                -0.014345117844641209,
+                0.08615459501743317,
+                0.1155039593577385,
+                -0.4678564965724945,
+                0.20536169409751892
+            ],
+            "ee_pos": [
+                0.2147437483072281,
+                0.14891895651817322,
+                0.08983178436756134
+            ],
+            "ee_quat_wxyz": [
+                0.986500084400177,
+                0.014696072787046432,
+                -0.12813423573970795,
+                0.1009119302034378
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1847488135099411,
+                -0.31649139523506165,
+                -0.04700213298201561,
+                -0.26135197281837463,
+                0.3341561555862427,
+                -0.11803215742111206,
+                0.59470134973526
+            ],
+            "ee_pos": [
+                0.20340701937675476,
+                -0.18414856493473053,
+                0.13774898648262024
+            ],
+            "ee_quat_wxyz": [
+                0.9530253410339355,
+                -0.026191961020231247,
+                -0.09803351014852524,
+                0.28538763523101807
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505046844482422,
+                -0.12745164334774017,
+                -0.00258463597856462,
+                0.26246410608291626,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280169486999512,
+                -0.07309418171644211,
+                0.19554845988750458,
+                0.5043217539787292,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06121435388922691,
+                -0.0030984149780124426,
+                -0.07375883311033249,
+                0.13471467792987823,
+                -0.058710720390081406,
+                -0.01441702339798212,
+                0.08617856353521347,
+                0.11558785289525986,
+                -0.46786415576934814,
+                0.20534634590148926,
+                0.1867741495370865,
+                -0.3186006247997284,
+                -0.045048702508211136,
+                -0.26317358016967773,
+                0.3358938694000244,
+                -0.1178097277879715,
+                0.5994413495063782,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14540635802095897,
+                -0.07258483790604375,
+                -0.02097781994948778,
+                0.07987308087756348,
+                0.11920146499165875,
+                -0.4605595459607341,
+                0.20511730479625917
+            ],
+            "target_pos": [
+                0.21241016685962677,
+                0.1447736620903015,
+                0.08714506030082703
+            ],
+            "target_quat_wxyz": [
+                0.9860687255859375,
+                0.01067617628723383,
+                -0.12975569069385529,
+                0.10352776199579239
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.21856074196811298,
+                -0.35851009963871816,
+                -0.0124083208159831,
+                -0.29787994423714337,
+                0.3650498651027523,
+                -0.10390595670508287,
+                0.6759841768745756
+            ],
+            "target_pos": [
+                0.18778814375400543,
+                -0.17645931243896484,
+                0.13703593611717224
+            ],
+            "target_quat_wxyz": [
+                0.9190881848335266,
+                -0.022080983966588974,
+                -0.07719109952449799,
+                0.3857860565185547
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000164_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 165,
+    "colors": {
+        "color_0": "colors/000165_color_0.jpg",
+        "color_2": "colors/000165_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13470269739627838,
+                -0.058698736131191254,
+                -0.014944328926503658,
+                0.08619055151939392,
+                0.11556388437747955,
+                -0.4678564965724945,
+                0.20533867180347443
+            ],
+            "ee_pos": [
+                0.21475212275981903,
+                0.1487709879875183,
+                0.08983192592859268
+            ],
+            "ee_quat_wxyz": [
+                0.9865320324897766,
+                0.014649487100541592,
+                -0.12813740968704224,
+                0.10060180723667145
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1997051239013672,
+                -0.3309084177017212,
+                -0.03253716975450516,
+                -0.2751697897911072,
+                0.3495079576969147,
+                -0.11543206125497818,
+                0.634017288684845
+            ],
+            "ee_pos": [
+                0.1991758942604065,
+                -0.18095390498638153,
+                0.13719387352466583
+            ],
+            "ee_quat_wxyz": [
+                0.9449794292449951,
+                -0.02420247159898281,
+                -0.09394805878400803,
+                0.3124130368232727
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503439903259277,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2624981999397278,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.127936601638794,
+                -0.07309418171644211,
+                0.19554845988750458,
+                0.5043473243713379,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.0609465166926384,
+                -0.002953773597255349,
+                -0.0738239511847496,
+                0.13470269739627838,
+                -0.058698736131191254,
+                -0.014944328926503658,
+                0.08619055151939392,
+                0.11556388437747955,
+                -0.4678564965724945,
+                0.20533867180347443,
+                0.1997051239013672,
+                -0.3309084177017212,
+                -0.03253716975450516,
+                -0.2751697897911072,
+                0.3495079576969147,
+                -0.11543206125497818,
+                0.634017288684845,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14556061220712763,
+                -0.07367931604687669,
+                -0.02159581477502312,
+                0.08051477428737229,
+                0.11978568724327772,
+                -0.46128704116005115,
+                0.20620753213492699
+            ],
+            "target_pos": [
+                0.21245034039020538,
+                0.14421311020851135,
+                0.08694743365049362
+            ],
+            "target_quat_wxyz": [
+                0.9860098361968994,
+                0.010387499816715717,
+                -0.129778653383255,
+                0.10408725589513779
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.22801873193399178,
+                -0.3744500910970758,
+                0.0034788774964497502,
+                -0.30624106213007973,
+                0.3722663884197503,
+                -0.10009237750116873,
+                0.7095847627522864
+            ],
+            "target_pos": [
+                0.18560577929019928,
+                -0.17365173995494843,
+                0.13558566570281982
+            ],
+            "target_quat_wxyz": [
+                0.9110448360443115,
+                -0.02253904938697815,
+                -0.06935316324234009,
+                0.40580710768699646
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000165_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 166,
+    "colors": {
+        "color_0": "colors/000166_color_0.jpg",
+        "color_2": "colors/000166_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13471467792987823,
+                -0.05872270464897156,
+                -0.01483647059649229,
+                0.08620253205299377,
+                0.1155039593577385,
+                -0.4678564965724945,
+                0.20562246441841125
+            ],
+            "ee_pos": [
+                0.21474507451057434,
+                0.14880983531475067,
+                0.08982495218515396
+            ],
+            "ee_quat_wxyz": [
+                0.9865137338638306,
+                0.014606728218495846,
+                -0.12812119722366333,
+                0.1008077934384346
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.21081450581550598,
+                -0.3488008677959442,
+                -0.013685985468327999,
+                -0.28593161702156067,
+                0.36010199785232544,
+                -0.11092982441186905,
+                0.672481894493103
+            ],
+            "ee_pos": [
+                0.19546610116958618,
+                -0.17724134027957916,
+                0.1361866295337677
+            ],
+            "ee_quat_wxyz": [
+                0.9355705976486206,
+                -0.02446320280432701,
+                -0.08738350868225098,
+                0.3412818908691406
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050169825553894,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.2624385356903076,
+                0.524997889995575,
+                0.009689717553555965,
+                -1.1280169486999512,
+                -0.07309418171644211,
+                0.19565559923648834,
+                0.5043728947639465,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06081259995698929,
+                -0.0027330017182976007,
+                -0.0737283006310463,
+                0.13471467792987823,
+                -0.058710720390081406,
+                -0.01483647059649229,
+                0.08617856353521347,
+                0.1155039593577385,
+                -0.46786415576934814,
+                0.20563779771327972,
+                0.21212078630924225,
+                -0.35056254267692566,
+                -0.011504855938255787,
+                -0.2874895930290222,
+                0.3605334460735321,
+                -0.11041594296693802,
+                0.6765239238739014,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1461852555615249,
+                -0.07453227518349108,
+                -0.021983709519668083,
+                0.08085254622763352,
+                0.12011096644774513,
+                -0.4618855370905646,
+                0.207115678007051
+            ],
+            "target_pos": [
+                0.21214284002780914,
+                0.1442737877368927,
+                0.08676265925168991
+            ],
+            "target_quat_wxyz": [
+                0.9860094785690308,
+                0.010176045820116997,
+                -0.12943650782108307,
+                0.10453695803880692
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23476204887010813,
+                -0.3869424231247081,
+                0.01826057832288139,
+                -0.31214774005451085,
+                0.3769534668026058,
+                -0.09591461031828513,
+                0.7360287309932281
+            ],
+            "target_pos": [
+                0.18377067148685455,
+                -0.17100319266319275,
+                0.13439881801605225
+            ],
+            "target_quat_wxyz": [
+                0.9051917791366577,
+                -0.02128341980278492,
+                -0.06409459561109543,
+                0.4196030795574188
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000166_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 167,
+    "colors": {
+        "color_0": "colors/000167_color_0.jpg",
+        "color_2": "colors/000167_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13471467792987823,
+                -0.05872270464897156,
+                -0.01507615577429533,
+                0.08622650057077408,
+                0.11556388437747955,
+                -0.46786415576934814,
+                0.20560713112354279
+            ],
+            "ee_pos": [
+                0.21474823355674744,
+                0.14874862134456635,
+                0.08982383459806442
+            ],
+            "ee_quat_wxyz": [
+                0.9865272045135498,
+                0.014605265110731125,
+                -0.12812300026416779,
+                0.10067420452833176
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.21980267763137817,
+                -0.362714558839798,
+                0.0011025486746802926,
+                -0.29551902413368225,
+                0.36701691150665283,
+                -0.10704118758440018,
+                0.7039821743965149
+            ],
+            "ee_pos": [
+                0.19227808713912964,
+                -0.17423905432224274,
+                0.1354551613330841
+            ],
+            "ee_quat_wxyz": [
+                0.9272457957267761,
+                -0.025013918057084084,
+                -0.08207912743091583,
+                0.36448952555656433
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503038167953491,
+                -0.12746016681194305,
+                -0.00258463597856462,
+                0.26237890124320984,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280303001403809,
+                -0.07309418171644211,
+                0.1956823766231537,
+                0.5044240355491638,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.060558151453733444,
+                -0.00257312785834074,
+                -0.0736226812005043,
+                0.13471467792987823,
+                -0.05873468890786171,
+                -0.015124091878533363,
+                0.08620253205299377,
+                0.1155758649110794,
+                -0.46786415576934814,
+                0.20561479032039642,
+                0.22078537940979004,
+                -0.3642365634441376,
+                0.003032008884474635,
+                -0.29654964804649353,
+                0.36791571974754333,
+                -0.10661934316158295,
+                0.7074336409568787,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14695422335117467,
+                -0.07501981122907526,
+                -0.022120080963732525,
+                0.08127735522703203,
+                0.12024862560423166,
+                -0.46245630901524537,
+                0.2077861577259517
+            ],
+            "target_pos": [
+                0.21199192106723785,
+                0.14437037706375122,
+                0.08647679537534714
+            ],
+            "target_quat_wxyz": [
+                0.986015260219574,
+                0.010168652050197124,
+                -0.12911099195480347,
+                0.10488482564687729
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23871199934448128,
+                -0.3969605318433528,
+                0.03412904342742708,
+                -0.3156233964549018,
+                0.37869840329706117,
+                -0.0908686099652195,
+                0.7591540897218045
+            ],
+            "target_pos": [
+                0.18213577568531036,
+                -0.1673130989074707,
+                0.13237452507019043
+            ],
+            "target_quat_wxyz": [
+                0.8970540761947632,
+                -0.021663671359419823,
+                -0.057091403752565384,
+                0.4376816749572754
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000167_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 168,
+    "colors": {
+        "color_0": "colors/000168_color_0.jpg",
+        "color_2": "colors/000168_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1347266584634781,
+                -0.05874667316675186,
+                -0.015243934467434883,
+                0.08619055151939392,
+                0.1155039593577385,
+                -0.4678795039653778,
+                0.2058602273464203
+            ],
+            "ee_pos": [
+                0.21474570035934448,
+                0.1487203985452652,
+                0.08983258903026581
+            ],
+            "ee_quat_wxyz": [
+                0.9865192174911499,
+                0.014526580460369587,
+                -0.12814629077911377,
+                0.10073411464691162
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.22730480134487152,
+                -0.3765683174133301,
+                0.01913880743086338,
+                -0.3024698495864868,
+                0.3714990019798279,
+                -0.10242389887571335,
+                0.7332351803779602
+            ],
+            "ee_pos": [
+                0.18924832344055176,
+                -0.17079824209213257,
+                0.13404633104801178
+            ],
+            "ee_quat_wxyz": [
+                0.9184162020683289,
+                -0.025322875007987022,
+                -0.0750877782702446,
+                0.38759803771972656
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503171682357788,
+                -0.12745164334774017,
+                -0.00258463597856462,
+                0.2623533308506012,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280704736709595,
+                -0.07307714223861694,
+                0.1956823766231537,
+                0.5044410824775696,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.060397449880838394,
+                -0.002565517323091626,
+                -0.07361765205860138,
+                0.1347266584634781,
+                -0.05874667316675186,
+                -0.015243934467434883,
+                0.08619055151939392,
+                0.1155039593577385,
+                -0.4678795039653778,
+                0.2058602273464203,
+                0.22730480134487152,
+                -0.3765683174133301,
+                0.01913880743086338,
+                -0.3024698495864868,
+                0.3714990019798279,
+                -0.10242389887571335,
+                0.7332351803779602,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14707280417948979,
+                -0.07556219867795613,
+                -0.022350495749170807,
+                0.08216322353027211,
+                0.12064396379282175,
+                -0.46285729052749125,
+                0.20864853399111039
+            ],
+            "target_pos": [
+                0.21214580535888672,
+                0.144046351313591,
+                0.08632633835077286
+            ],
+            "target_quat_wxyz": [
+                0.9859966039657593,
+                0.010067204013466835,
+                -0.12904572486877441,
+                0.10515039414167404
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.2393502780894788,
+                -0.4047350097559196,
+                0.05138249844943987,
+                -0.3159614357119569,
+                0.3777527388891866,
+                -0.08546873669817615,
+                0.7787327308935896
+            ],
+            "target_pos": [
+                0.1813725233078003,
+                -0.16349132359027863,
+                0.13003119826316833
+            ],
+            "target_quat_wxyz": [
+                0.889854371547699,
+                -0.021972419694066048,
+                -0.050088681280612946,
+                0.4529542922973633
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000168_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 169,
+    "colors": {
+        "color_0": "colors/000169_color_0.jpg",
+        "color_2": "colors/000169_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13471467792987823,
+                -0.05874667316675186,
+                -0.015507587231695652,
+                0.08619055151939392,
+                0.11559983342885971,
+                -0.46788716316223145,
+                0.20607498288154602
+            ],
+            "ee_pos": [
+                0.2147497683763504,
+                0.1486627608537674,
+                0.08983995020389557
+            ],
+            "ee_quat_wxyz": [
+                0.9865201711654663,
+                0.01452257577329874,
+                -0.12816956639289856,
+                0.10069575905799866
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23218238353729248,
+                -0.38741403818130493,
+                0.03407115116715431,
+                -0.3036682903766632,
+                0.37400370836257935,
+                -0.09809041023254395,
+                0.7548796534538269
+            ],
+            "ee_pos": [
+                0.18706122040748596,
+                -0.1683157980442047,
+                0.13208304345607758
+            ],
+            "ee_quat_wxyz": [
+                0.9115875363349915,
+                -0.025001658126711845,
+                -0.06752126663923264,
+                0.4047517776489258
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503038167953491,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2623448073863983,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280571222305298,
+                -0.07306861877441406,
+                0.19565559923648834,
+                0.5044155120849609,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060397449880838394,
+                -0.0025883535854518414,
+                -0.07361265271902084,
+                0.1347266584634781,
+                -0.05873468890786171,
+                -0.0154956029728055,
+                0.08622650057077408,
+                0.11558785289525986,
+                -0.46788716316223145,
+                0.20609033107757568,
+                0.23258984088897705,
+                -0.38836079835891724,
+                0.03538941591978073,
+                -0.3037402033805847,
+                0.3740636110305786,
+                -0.09742312133312225,
+                0.7569735646247864,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14730664023707493,
+                -0.07577994196296406,
+                -0.022405331202658134,
+                0.08248590229689011,
+                0.1205627050425663,
+                -0.4630762599925856,
+                0.20905872972233322
+            ],
+            "target_pos": [
+                0.21203207969665527,
+                0.14417286217212677,
+                0.086356021463871
+            ],
+            "target_quat_wxyz": [
+                0.9859890937805176,
+                0.009788771159946918,
+                -0.1290121078491211,
+                0.10528793931007385
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23698348596342522,
+                -0.40928975578420373,
+                0.07053690884018529,
+                -0.31336612399410807,
+                0.3729198233063701,
+                -0.08101024141011329,
+                0.7935281665210798
+            ],
+            "target_pos": [
+                0.18124252557754517,
+                -0.1589333415031433,
+                0.12747058272361755
+            ],
+            "target_quat_wxyz": [
+                0.884108304977417,
+                -0.022681493312120438,
+                -0.04449477419257164,
+                0.46460551023483276
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000169_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 170,
+    "colors": {
+        "color_0": "colors/000170_color_0.jpg",
+        "color_2": "colors/000170_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1347745954990387,
+                -0.058758657425642014,
+                -0.015579492785036564,
+                0.08621452003717422,
+                0.1155518963932991,
+                -0.4678795039653778,
+                0.20647382736206055
+            ],
+            "ee_pos": [
+                0.21473410725593567,
+                0.1486683487892151,
+                0.08982212096452713
+            ],
+            "ee_quat_wxyz": [
+                0.9865081310272217,
+                0.014464613050222397,
+                -0.12812811136245728,
+                0.1008746400475502
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23418374359607697,
+                -0.3947843611240387,
+                0.05008207634091377,
+                -0.303800106048584,
+                0.37402766942977905,
+                -0.0918317660689354,
+                0.7740927934646606
+            ],
+            "ee_pos": [
+                0.18536804616451263,
+                -0.16528336703777313,
+                0.13004189729690552
+            ],
+            "ee_quat_wxyz": [
+                0.9048361778259277,
+                -0.023952187970280647,
+                -0.060065846890211105,
+                0.420820415019989
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503171682357788,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.2623448073863983,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280704736709595,
+                -0.07308565825223923,
+                0.1956823766231537,
+                0.5044240355491638,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.060759030282497406,
+                -0.002527455100789666,
+                -0.07359250634908676,
+                0.13476261496543884,
+                -0.058758657425642014,
+                -0.01555552426725626,
+                0.08623848110437393,
+                0.11556388437747955,
+                -0.4678795039653778,
+                0.20654284954071045,
+                0.23425565659999847,
+                -0.3956112563610077,
+                0.05249090492725372,
+                -0.30381208658218384,
+                0.37397974729537964,
+                -0.09075798094272614,
+                0.7759642004966736,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14646158054066272,
+                -0.07609740365568958,
+                -0.022534016309643145,
+                0.08370354034694198,
+                0.12074693992581564,
+                -0.4631001600917831,
+                0.20971525045455813
+            ],
+            "target_pos": [
+                0.2125243991613388,
+                0.14387096464633942,
+                0.08617215603590012
+            ],
+            "target_quat_wxyz": [
+                0.9859955906867981,
+                0.009730136953294277,
+                -0.12891976535320282,
+                0.10534543544054031
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23050467982539036,
+                -0.4072912921947618,
+                0.08947083132931102,
+                -0.3054523872213354,
+                0.3665922760013158,
+                -0.07676568451234625,
+                0.8020379071971329
+            ],
+            "target_pos": [
+                0.18290357291698456,
+                -0.1544272005558014,
+                0.1243392750620842
+            ],
+            "target_quat_wxyz": [
+                0.8821048140525818,
+                -0.01770005002617836,
+                -0.0412500724196434,
+                0.4689096510410309
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000170_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 171,
+    "colors": {
+        "color_0": "colors/000171_color_0.jpg",
+        "color_2": "colors/000171_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.134750634431839,
+                -0.058758657425642014,
+                -0.01589108258485794,
+                0.08623848110437393,
+                0.11558785289525986,
+                -0.46789485216140747,
+                0.2066042125225067
+            ],
+            "ee_pos": [
+                0.21474149823188782,
+                0.14859658479690552,
+                0.08982744067907333
+            ],
+            "ee_quat_wxyz": [
+                0.9865158796310425,
+                0.014431304298341274,
+                -0.12814736366271973,
+                0.1007792130112648
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23406390845775604,
+                -0.39917057752609253,
+                0.06768690049648285,
+                -0.3033686876296997,
+                0.3732127547264099,
+                -0.08689234405755997,
+                0.786717414855957
+            ],
+            "ee_pos": [
+                0.18412978947162628,
+                -0.16178008913993835,
+                0.12821196019649506
+            ],
+            "ee_quat_wxyz": [
+                0.8989219665527344,
+                -0.02196897566318512,
+                -0.05433301255106926,
+                0.4341711103916168
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503439903259277,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26237037777900696,
+                0.5250085592269897,
+                0.009695465676486492,
+                -1.1280437707901,
+                -0.07308565825223923,
+                0.19565559923648834,
+                0.5044069886207581,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060906343162059784,
+                -0.0025426761712878942,
+                -0.07360256463289261,
+                0.13473863899707794,
+                -0.058758657425642014,
+                -0.01599894091486931,
+                0.08625046908855438,
+                0.11559983342885971,
+                -0.46788716316223145,
+                0.2066042125225067,
+                0.23395603895187378,
+                -0.39959001541137695,
+                0.07079081982374191,
+                -0.3033446967601776,
+                0.37303298711776733,
+                -0.08591059595346451,
+                0.7889493703842163,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14560273391361492,
+                -0.07614301589767712,
+                -0.02249074588660604,
+                0.08469509672382784,
+                0.12067199829888615,
+                -0.4631286590938598,
+                0.21010812431444403
+            ],
+            "target_pos": [
+                0.2126259058713913,
+                0.14400918781757355,
+                0.086155466735363
+            ],
+            "target_quat_wxyz": [
+                0.985975444316864,
+                0.009675953537225723,
+                -0.12902972102165222,
+                0.10540462285280228
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.22067191301557917,
+                -0.3965347562743541,
+                0.10823756903777962,
+                -0.2918288793374705,
+                0.3615605332555706,
+                -0.07198354732661176,
+                0.8021186993661853
+            ],
+            "target_pos": [
+                0.1854429692029953,
+                -0.1488461047410965,
+                0.1204327866435051
+            ],
+            "target_quat_wxyz": [
+                0.882996141910553,
+                -0.005185743328183889,
+                -0.03876354917883873,
+                0.46774810552597046
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000171_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 172,
+    "colors": {
+        "color_0": "colors/000172_color_0.jpg",
+        "color_2": "colors/000172_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1347266584634781,
+                -0.058758657425642014,
+                -0.016334498301148415,
+                0.08627443760633469,
+                0.11556388437747955,
+                -0.4679025113582611,
+                0.20677295327186584
+            ],
+            "ee_pos": [
+                0.21475018560886383,
+                0.1484975516796112,
+                0.08983062207698822
+            ],
+            "ee_quat_wxyz": [
+                0.9865288138389587,
+                0.014351211488246918,
+                -0.12815867364406586,
+                0.10064925253391266
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.23116372525691986,
+                -0.3988589942455292,
+                0.08500410616397858,
+                -0.30003705620765686,
+                0.37075597047805786,
+                -0.0825204998254776,
+                0.7944103479385376
+            ],
+            "ee_pos": [
+                0.18358376622200012,
+                -0.15805071592330933,
+                0.1262854039669037
+            ],
+            "ee_quat_wxyz": [
+                0.8942465782165527,
+                -0.018949933350086212,
+                -0.04972366988658905,
+                0.44440022110939026
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503305196762085,
+                -0.12746016681194305,
+                -0.002624811604619026,
+                0.2623618543148041,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280437707901,
+                -0.07308565825223923,
+                0.19561542570590973,
+                0.5044155120849609,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.0609465166926384,
+                -0.00253506563603878,
+                -0.07359753549098969,
+                0.13469070196151733,
+                -0.058758657425642014,
+                -0.016334498301148415,
+                0.0863223746418953,
+                0.1155518963932991,
+                -0.46789485216140747,
+                0.20680363476276398,
+                0.23069633543491364,
+                -0.39876312017440796,
+                0.08728111535310745,
+                -0.29959365725517273,
+                0.37003692984580994,
+                -0.0818532183766365,
+                0.7950009107589722,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14287662681184624,
+                -0.07607171686548639,
+                -0.022039780864364086,
+                0.08798784036628488,
+                0.12071905990309245,
+                -0.463742810794925,
+                0.2109439685535559
+            ],
+            "target_pos": [
+                0.21373294293880463,
+                0.1438702493906021,
+                0.08568912744522095
+            ],
+            "target_quat_wxyz": [
+                0.9858583807945251,
+                0.009731383994221687,
+                -0.1296718865633011,
+                0.10570620000362396
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.20747029092855784,
+                -0.3795677523945693,
+                0.12843999311439622,
+                -0.27104555265741004,
+                0.35046279100691946,
+                -0.0653593974990703,
+                0.7924474149942138
+            ],
+            "target_pos": [
+                0.18897931277751923,
+                -0.14244067668914795,
+                0.11426800489425659
+            ],
+            "target_quat_wxyz": [
+                0.8860464096069336,
+                -0.00035797132295556366,
+                -0.02855181321501732,
+                0.46271637082099915
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000172_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 173,
+    "colors": {
+        "color_0": "colors/000173_color_0.jpg",
+        "color_2": "colors/000173_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13466674089431763,
+                -0.05874667316675186,
+                -0.0162506103515625,
+                0.08645419776439667,
+                0.11553991585969925,
+                -0.46788716316223145,
+                0.207041397690773
+            ],
+            "ee_pos": [
+                0.21475639939308167,
+                0.14852800965309143,
+                0.08980000019073486
+            ],
+            "ee_quat_wxyz": [
+                0.9865214228630066,
+                0.014342080801725388,
+                -0.12808966636657715,
+                0.10081089287996292
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.2241649329662323,
+                -0.3947364091873169,
+                0.10507768392562866,
+                -0.29139643907546997,
+                0.36462005972862244,
+                -0.07911506295204163,
+                0.7952386736869812
+            ],
+            "ee_pos": [
+                0.18394309282302856,
+                -0.1536826491355896,
+                0.12378455698490143
+            ],
+            "ee_quat_wxyz": [
+                0.8907932639122009,
+                -0.0156687181442976,
+                -0.045081257820129395,
+                0.45189547538757324
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503439903259277,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26228514313697815,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1280303001403809,
+                -0.07310270518064499,
+                0.19564220309257507,
+                0.5044155120849609,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06102686747908592,
+                -0.002763451309874654,
+                -0.07356765866279602,
+                0.13463078439235687,
+                -0.05874667316675186,
+                -0.01637045107781887,
+                0.0866699144244194,
+                0.1155039593577385,
+                -0.4679025113582611,
+                0.20712576806545258,
+                0.22302642464637756,
+                -0.3934301435947418,
+                0.10730675607919693,
+                -0.28995832800865173,
+                0.3635294735431671,
+                -0.07828671485185623,
+                0.7949932813644409,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1395244526181611,
+                -0.07635257875115728,
+                -0.021551300980178982,
+                0.09197706513920675,
+                0.12087287269645955,
+                -0.4648339503062887,
+                0.21215997412095694
+            ],
+            "target_pos": [
+                0.21443402767181396,
+                0.14358732104301453,
+                0.08551475405693054
+            ],
+            "target_quat_wxyz": [
+                0.9856962561607361,
+                0.009208298288285732,
+                -0.1305261254310608,
+                0.10621196776628494
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19375026868324902,
+                -0.3630399972376994,
+                0.15190950830786099,
+                -0.24491864974227562,
+                0.32753400550541195,
+                -0.06396964155032282,
+                0.7782840599434911
+            ],
+            "target_pos": [
+                0.19079214334487915,
+                -0.13610658049583435,
+                0.10723230242729187
+            ],
+            "target_quat_wxyz": [
+                0.8860501646995544,
+                -0.010716427117586136,
+                -0.019356438890099525,
+                0.4630611538887024
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000173_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 174,
+    "colors": {
+        "color_0": "colors/000174_color_0.jpg",
+        "color_2": "colors/000174_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1344989538192749,
+                -0.058758657425642014,
+                -0.016214657574892044,
+                0.08716127276420593,
+                0.11544404178857803,
+                -0.4679485261440277,
+                0.20756295323371887
+            ],
+            "ee_pos": [
+                0.21477371454238892,
+                0.1485445499420166,
+                0.08968045562505722
+            ],
+            "ee_quat_wxyz": [
+                0.9865285754203796,
+                0.014271439053118229,
+                -0.12784911692142487,
+                0.10105618089437485
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.21227657794952393,
+                -0.3806789219379425,
+                0.12507936358451843,
+                -0.27452266216278076,
+                0.34934017062187195,
+                -0.07501166313886642,
+                0.7894402146339417
+            ],
+            "ee_pos": [
+                0.18561381101608276,
+                -0.1485297828912735,
+                0.1201755478978157
+            ],
+            "ee_quat_wxyz": [
+                0.8895782828330994,
+                -0.01242043823003769,
+                -0.03960872069001198,
+                0.45489269495010376
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503171682357788,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26233628392219543,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1280839443206787,
+                -0.07306009531021118,
+                0.1955886334180832,
+                0.5044155120849609,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06137505918741226,
+                -0.003144086804240942,
+                -0.07353833317756653,
+                0.13448697328567505,
+                -0.058758657425642014,
+                -0.016394419595599174,
+                0.08741293847560883,
+                0.11546801030635834,
+                -0.4679485261440277,
+                0.2076396495103836,
+                0.210083469748497,
+                -0.37882137298583984,
+                0.12738032639026642,
+                -0.2721976935863495,
+                0.3476264178752899,
+                -0.07471253722906113,
+                0.7885811924934387,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13731855836324874,
+                -0.07641473803618942,
+                -0.021162989773055252,
+                0.09358536448645867,
+                0.12097056612608982,
+                -0.4660377382273436,
+                0.21307074479620147
+            ],
+            "target_pos": [
+                0.21442151069641113,
+                0.14372602105140686,
+                0.08622702956199646
+            ],
+            "target_quat_wxyz": [
+                0.9854471683502197,
+                0.009235691279172897,
+                -0.13222630321979523,
+                0.10641809552907944
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1809384074632877,
+                -0.3489878681522172,
+                0.1768686882965318,
+                -0.21824656676512855,
+                0.2980563222925452,
+                -0.06645979839667021,
+                0.7659768446961809
+            ],
+            "target_pos": [
+                0.1915736198425293,
+                -0.13013342022895813,
+                0.10171708464622498
+            ],
+            "target_quat_wxyz": [
+                0.8830952048301697,
+                -0.01980646140873432,
+                -0.012323448434472084,
+                0.4686135947704315
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000174_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 175,
+    "colors": {
+        "color_0": "colors/000175_color_0.jpg",
+        "color_2": "colors/000175_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1341993510723114,
+                -0.058758657425642014,
+                -0.016526246443390846,
+                0.0881439745426178,
+                0.11556388437747955,
+                -0.46795621514320374,
+                0.2079847902059555
+            ],
+            "ee_pos": [
+                0.21482187509536743,
+                0.14845426380634308,
+                0.08952753990888596
+            ],
+            "ee_quat_wxyz": [
+                0.9865734577178955,
+                0.014272691681981087,
+                -0.12752863764762878,
+                0.10102245211601257
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19604994356632233,
+                -0.36723262071609497,
+                0.14896391332149506,
+                -0.2509976029396057,
+                0.3286913335323334,
+                -0.0732092335820198,
+                0.778357207775116
+            ],
+            "ee_pos": [
+                0.18804363906383514,
+                -0.14284148812294006,
+                0.11583159118890762
+            ],
+            "ee_quat_wxyz": [
+                0.8887103796005249,
+                -0.011866207234561443,
+                -0.03276515379548073,
+                0.45714277029037476
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0502501726150513,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.26246410608291626,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1280169486999512,
+                -0.07304304838180542,
+                0.19556185603141785,
+                0.5044155120849609,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.061428625136613846,
+                -0.0033039595000445843,
+                -0.07372415065765381,
+                0.1341993510723114,
+                -0.058758657425642014,
+                -0.016526246443390846,
+                0.0881439745426178,
+                0.11556388437747955,
+                -0.46795621514320374,
+                0.2079847902059555,
+                0.19604994356632233,
+                -0.36723262071609497,
+                0.14896391332149506,
+                -0.2509976029396057,
+                0.3286913335323334,
+                -0.0732092335820198,
+                0.778357207775116,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13542569630292492,
+                -0.07643777573456834,
+                -0.020792922483094573,
+                0.0941877340893236,
+                0.12131593442284816,
+                -0.4672834153554418,
+                0.21417394283802615
+            ],
+            "target_pos": [
+                0.21471992135047913,
+                0.14377769827842712,
+                0.08672818541526794
+            ],
+            "target_quat_wxyz": [
+                0.9851648807525635,
+                0.009408080950379372,
+                -0.13383154571056366,
+                0.10700797289609909
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1682409295467801,
+                -0.33566050972342815,
+                0.1998738883060938,
+                -0.1917861664839502,
+                0.2733991274139026,
+                -0.06940637281816342,
+                0.7560928041737025
+            ],
+            "target_pos": [
+                0.19321301579475403,
+                -0.1250211000442505,
+                0.0975254476070404
+            ],
+            "target_quat_wxyz": [
+                0.8817419409751892,
+                -0.01614009030163288,
+                -0.007256478536874056,
+                0.47140008211135864
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000175_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 176,
+    "colors": {
+        "color_0": "colors/000176_color_0.jpg",
+        "color_2": "colors/000176_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13351625204086304,
+                -0.05872270464897156,
+                -0.01835983246564865,
+                0.0884675532579422,
+                0.11576761305332184,
+                -0.46811726689338684,
+                0.20806916058063507
+            ],
+            "ee_pos": [
+                0.21497948467731476,
+                0.14797000586986542,
+                0.08963631093502045
+            ],
+            "ee_quat_wxyz": [
+                0.9866353273391724,
+                0.014101872220635414,
+                -0.1278407871723175,
+                0.10004271566867828
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18311895430088043,
+                -0.3520486056804657,
+                0.17045164108276367,
+                -0.22555510699748993,
+                0.3046150505542755,
+                -0.07228118181228638,
+                0.7661851048469543
+            ],
+            "ee_pos": [
+                0.18997874855995178,
+                -0.13751664757728577,
+                0.11074473708868027
+            ],
+            "ee_quat_wxyz": [
+                0.8887322545051575,
+                -0.012285402975976467,
+                -0.02429748885333538,
+                0.4576173722743988
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7581826504921043
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0502903461456299,
+                -0.12746016681194305,
+                -0.00258463597856462,
+                0.2624044418334961,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1280303001403809,
+                -0.0730515718460083,
+                0.1956823766231537,
+                0.5044325590133667,
+                0.5073294639587402,
+                0.011345024220645428,
+                -0.0608527734875679,
+                -0.003128867596387863,
+                -0.07385928928852081,
+                0.13346831500530243,
+                -0.058710720390081406,
+                -0.018395785242319107,
+                0.08850350230932236,
+                0.11571967601776123,
+                -0.4680866003036499,
+                0.20813052356243134,
+                0.18061426281929016,
+                -0.34930419921875,
+                0.17496968805789948,
+                -0.22102506458759308,
+                0.30058833956718445,
+                -0.07208943367004395,
+                0.764259934425354,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1344719694006358,
+                -0.07650560774977877,
+                -0.02053379302261954,
+                0.09331286496844429,
+                0.1214595034285688,
+                -0.46782065050389166,
+                0.21546746989325102
+            ],
+            "target_pos": [
+                0.21478109061717987,
+                0.14389602839946747,
+                0.08717312663793564
+            ],
+            "target_quat_wxyz": [
+                0.9849662780761719,
+                0.009102136828005314,
+                -0.13441959023475647,
+                0.10812012851238251
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1575620756793769,
+                -0.3234332285023549,
+                0.22057188425387622,
+                -0.16890646470618748,
+                0.25440101513323016,
+                -0.07154430635009175,
+                0.7499055370589843
+            ],
+            "target_pos": [
+                0.19357334077358246,
+                -0.12009729444980621,
+                0.0940871462225914
+            ],
+            "target_quat_wxyz": [
+                0.8791429996490479,
+                -0.013588625006377697,
+                -0.0016119310166686773,
+                0.47636157274246216
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000176_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 177,
+    "colors": {
+        "color_0": "colors/000177_color_0.jpg",
+        "color_2": "colors/000177_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1333724409341812,
+                -0.05872270464897156,
+                -0.01823999173939228,
+                0.08861136436462402,
+                0.11567173898220062,
+                -0.4680789113044739,
+                0.2088821679353714
+            ],
+            "ee_pos": [
+                0.21499814093112946,
+                0.14803245663642883,
+                0.08962801843881607
+            ],
+            "ee_quat_wxyz": [
+                0.9865936636924744,
+                0.014017726294696331,
+                -0.12781722843647003,
+                0.10049470514059067
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16863003373146057,
+                -0.3358459174633026,
+                0.1971285194158554,
+                -0.196205735206604,
+                0.27922046184539795,
+                -0.07197438180446625,
+                0.7567281126976013
+            ],
+            "ee_pos": [
+                0.19160418212413788,
+                -0.13080300390720367,
+                0.10494912415742874
+            ],
+            "ee_quat_wxyz": [
+                0.8868990540504456,
+                -0.012532535940408707,
+                -0.014612100087106228,
+                0.46156206727027893
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503038167953491,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2624470591545105,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280437707901,
+                -0.07306009531021118,
+                0.1956823766231537,
+                0.5044240355491638,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06045101583003998,
+                -0.003128866432234645,
+                -0.07375887036323547,
+                0.1333724409341812,
+                -0.05872270464897156,
+                -0.01823999173939228,
+                0.08861136436462402,
+                0.11567173898220062,
+                -0.4680789113044739,
+                0.2088821679353714,
+                0.16863003373146057,
+                -0.3358459174633026,
+                0.1971285194158554,
+                -0.196205735206604,
+                0.27922046184539795,
+                -0.07197438180446625,
+                0.7567281126976013,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13438536325976538,
+                -0.07605551265932489,
+                -0.019658392542637432,
+                0.09218722463770397,
+                0.1212569813515453,
+                -0.4681037504319393,
+                0.2165993899760032
+            ],
+            "target_pos": [
+                0.21456097066402435,
+                0.14467869699001312,
+                0.08716299384832382
+            ],
+            "target_quat_wxyz": [
+                0.9848136305809021,
+                0.00951340701431036,
+                -0.13441592454910278,
+                0.10947156697511673
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14788069404784218,
+                -0.31298614108041944,
+                0.2405114601230791,
+                -0.1489928979437629,
+                0.2360347899569918,
+                -0.07573908268572996,
+                0.7456546664311392
+            ],
+            "target_pos": [
+                0.1935233324766159,
+                -0.11503972858190536,
+                0.09114708751440048
+            ],
+            "target_quat_wxyz": [
+                0.8753149509429932,
+                -0.019762741401791573,
+                0.0008588478667661548,
+                0.4831484854221344
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000177_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 178,
+    "colors": {
+        "color_0": "colors/000178_color_0.jpg",
+        "color_2": "colors/000178_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1332286298274994,
+                -0.058710720390081406,
+                -0.01829991117119789,
+                0.08863533288240433,
+                0.11567173898220062,
+                -0.46816328167915344,
+                0.209756538271904
+            ],
+            "ee_pos": [
+                0.21501752734184265,
+                0.14805364608764648,
+                0.08966096490621567
+            ],
+            "ee_quat_wxyz": [
+                0.9865421056747437,
+                0.013946729712188244,
+                -0.12792380154132843,
+                0.1008746400475502
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1582876443862915,
+                -0.32465267181396484,
+                0.21813686192035675,
+                -0.17349563539028168,
+                0.2596142590045929,
+                -0.07306350767612457,
+                0.7515662312507629
+            ],
+            "ee_pos": [
+                0.19240492582321167,
+                -0.12555067241191864,
+                0.10047617554664612
+            ],
+            "ee_quat_wxyz": [
+                0.8845921754837036,
+                -0.013658461160957813,
+                -0.007104575168341398,
+                0.4661111831665039
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503171682357788,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2623959481716156,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280571222305298,
+                -0.07306861877441406,
+                0.19566898047924042,
+                0.5043558478355408,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060236748307943344,
+                -0.00319737964309752,
+                -0.0736737847328186,
+                0.13318069279193878,
+                -0.058710720390081406,
+                -0.018323879688978195,
+                0.08867128193378448,
+                0.11563578993082047,
+                -0.4681326150894165,
+                0.21011702716350555,
+                0.15680159628391266,
+                -0.3225434422492981,
+                0.2217441201210022,
+                -0.16954083740711212,
+                0.25660622119903564,
+                -0.07303282618522644,
+                0.751013994216919,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1347765410164381,
+                -0.07514631530733322,
+                -0.01827228368050208,
+                0.09188936609120779,
+                0.12101367304659932,
+                -0.46839934174752185,
+                0.2177708577347583
+            ],
+            "target_pos": [
+                0.2142990678548813,
+                0.14551188051700592,
+                0.08679010719060898
+            ],
+            "target_quat_wxyz": [
+                0.9847137928009033,
+                0.010411419905722141,
+                -0.13394460082054138,
+                0.11085653305053711
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1387028741277717,
+                -0.3032433719150402,
+                0.2583757013069463,
+                -0.13089587400617814,
+                0.22044316430713645,
+                -0.07961518291077913,
+                0.7423200575418156
+            ],
+            "target_pos": [
+                0.1940309852361679,
+                -0.11071518063545227,
+                0.08859267085790634
+            ],
+            "target_quat_wxyz": [
+                0.8726773858070374,
+                -0.020633284002542496,
+                0.003931978717446327,
+                0.48784521222114563
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000178_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 179,
+    "colors": {
+        "color_0": "colors/000179_color_0.jpg",
+        "color_2": "colors/000179_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13310879468917847,
+                -0.058698736131191254,
+                -0.018144117668271065,
+                0.08863533288240433,
+                0.11571967601776123,
+                -0.4681786298751831,
+                0.21134421229362488
+            ],
+            "ee_pos": [
+                0.21502381563186646,
+                0.14816153049468994,
+                0.0896855965256691
+            ],
+            "ee_quat_wxyz": [
+                0.9864479899406433,
+                0.013884604908525944,
+                -0.1279972344636917,
+                0.10170716047286987
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14968296885490417,
+                -0.3124407231807709,
+                0.23786289989948273,
+                -0.1534220576286316,
+                0.24045149981975555,
+                -0.07457447797060013,
+                0.7474551796913147
+            ],
+            "ee_pos": [
+                0.1927890181541443,
+                -0.12019027024507523,
+                0.09648411720991135
+            ],
+            "ee_quat_wxyz": [
+                0.8820540904998779,
+                -0.014648918062448502,
+                -0.0008246942888945341,
+                0.4709196388721466
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0503439903259277,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2624385356903076,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280571222305298,
+                -0.07307714223861694,
+                0.19566898047924042,
+                0.5043558478355408,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.0602099634706974,
+                -0.003357241628691554,
+                -0.07362903654575348,
+                0.13309679925441742,
+                -0.058698736131191254,
+                -0.018156101927161217,
+                0.08869525045156479,
+                0.11565975844860077,
+                -0.46817097067832947,
+                0.2115819752216339,
+                0.14896391332149506,
+                -0.3112063705921173,
+                0.2398402988910675,
+                -0.1509772688150406,
+                0.23855799436569214,
+                -0.07457447797060013,
+                0.7472020983695984,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13547339889401536,
+                -0.07398789451733725,
+                -0.016521854488420636,
+                0.09283094808078848,
+                0.12050557401696278,
+                -0.4686056208817543,
+                0.21901292628306707
+            ],
+            "target_pos": [
+                0.2140723317861557,
+                0.14632965624332428,
+                0.0859704241156578
+            ],
+            "target_quat_wxyz": [
+                0.9847236275672913,
+                0.010934379883110523,
+                -0.13250042498111725,
+                0.11244315654039383
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.13048991466936133,
+                -0.2930805160300482,
+                0.2740449378285594,
+                -0.1142747911899413,
+                0.20791163711722455,
+                -0.08157076352076284,
+                0.7398980256860672
+            ],
+            "target_pos": [
+                0.1944442242383957,
+                -0.10652340203523636,
+                0.08612325042486191
+            ],
+            "target_quat_wxyz": [
+                0.8706533908843994,
+                -0.016916006803512573,
+                0.008316795341670513,
+                0.49153566360473633
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000179_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 180,
+    "colors": {
+        "color_0": "colors/000180_color_0.jpg",
+        "color_2": "colors/000180_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13316871225833893,
+                -0.0586867518723011,
+                -0.0174490325152874,
+                0.08867128193378448,
+                0.11559983342885971,
+                -0.46820929646492004,
+                0.21281683444976807
+            ],
+            "ee_pos": [
+                0.214985191822052,
+                0.14841051399707794,
+                0.08965804427862167
+            ],
+            "ee_quat_wxyz": [
+                0.9863423705101013,
+                0.013832738623023033,
+                -0.12795014679431915,
+                0.10279159247875214
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14234863221645355,
+                -0.30240994691848755,
+                0.254892498254776,
+                -0.13614079356193542,
+                0.22466826438903809,
+                -0.07590904086828232,
+                0.74424147605896
+            ],
+            "ee_pos": [
+                0.1929822415113449,
+                -0.11555329710245132,
+                0.09312519431114197
+            ],
+            "ee_quat_wxyz": [
+                0.8795936703681946,
+                -0.015589253976941109,
+                0.004536624997854233,
+                0.4754486382007599
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0504108667373657,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2624044418334961,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1280437707901,
+                -0.07306861877441406,
+                0.19560202956199646,
+                0.5043217539787292,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.059888556599617004,
+                -0.003692199243232608,
+                -0.07360973954200745,
+                0.13314473628997803,
+                -0.05867476761341095,
+                -0.017353158444166183,
+                0.08875517547130585,
+                0.11556388437747955,
+                -0.46819397807121277,
+                0.21306994557380676,
+                0.1416894942522049,
+                -0.30166691541671753,
+                0.2569657564163208,
+                -0.13410347700119019,
+                0.22343389689922333,
+                -0.07591671496629715,
+                0.743942379951477,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13611127569613402,
+                -0.07286749967095354,
+                -0.014742500008040012,
+                0.09496253648912863,
+                0.11962967273173683,
+                -0.4688359626242279,
+                0.21995857979357272
+            ],
+            "target_pos": [
+                0.21392761170864105,
+                0.14692313969135284,
+                0.08507957309484482
+            ],
+            "target_quat_wxyz": [
+                0.9848230481147766,
+                0.010915383696556091,
+                -0.13092157244682312,
+                0.11341960728168488
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12274715733160062,
+                -0.28336947300898474,
+                0.28857417867335905,
+                -0.09788221463233515,
+                0.19838163467685144,
+                -0.08042324108943531,
+                0.7392020999144777
+            ],
+            "target_pos": [
+                0.1945161670446396,
+                -0.10249238461256027,
+                0.08307602256536484
+            ],
+            "target_quat_wxyz": [
+                0.8672834038734436,
+                -0.013454467989504337,
+                0.01579584926366806,
+                0.49738216400146484
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000180_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 181,
+    "colors": {
+        "color_0": "colors/000181_color_0.jpg",
+        "color_2": "colors/000181_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13313275575637817,
+                -0.058638814836740494,
+                -0.015986956655979156,
+                0.08895890414714813,
+                0.1155279278755188,
+                -0.4681786298751831,
+                0.2152021825313568
+            ],
+            "ee_pos": [
+                0.21494348347187042,
+                0.1488833725452423,
+                0.08957870304584503
+            ],
+            "ee_quat_wxyz": [
+                0.9861671924591064,
+                0.013866377994418144,
+                -0.12778083980083466,
+                0.10466179996728897
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1329290270805359,
+                -0.29339781403541565,
+                0.27310851216316223,
+                -0.11845207959413528,
+                0.21141371130943298,
+                -0.07664535194635391,
+                0.7422703504562378
+            ],
+            "ee_pos": [
+                0.193327397108078,
+                -0.11065804213285446,
+                0.09007760882377625
+            ],
+            "ee_quat_wxyz": [
+                0.8763138651847839,
+                -0.016186542809009552,
+                0.009474125690758228,
+                0.4813753664493561
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050919771194458,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.26237037777900696,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1280704736709595,
+                -0.07309418171644211,
+                0.19564220309257507,
+                0.5042620897293091,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.0596608966588974,
+                -0.0038596715312451124,
+                -0.07345973700284958,
+                0.13313275575637817,
+                -0.058638814836740494,
+                -0.015903066843748093,
+                0.08907874673604965,
+                0.1155279278755188,
+                -0.46818628907203674,
+                0.21537090837955475,
+                0.1321021169424057,
+                -0.29265478253364563,
+                0.2743428945541382,
+                -0.11631888896226883,
+                0.20992767810821533,
+                -0.07664535194635391,
+                0.742124617099762,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13631892104775303,
+                -0.07229809055232062,
+                -0.013527069488763734,
+                0.097662412157069,
+                0.11933962477600413,
+                -0.4687953064524987,
+                0.22129755347764868
+            ],
+            "target_pos": [
+                0.21397046744823456,
+                0.14697091281414032,
+                0.08442234247922897
+            ],
+            "target_quat_wxyz": [
+                0.98488450050354,
+                0.011225440539419651,
+                -0.12961389124393463,
+                0.11435351520776749
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11556351069747225,
+                -0.2759290943751926,
+                0.30299812657037756,
+                -0.08073052838353804,
+                0.18701409631828042,
+                -0.08008915586350461,
+                0.738383238294845
+            ],
+            "target_pos": [
+                0.19423560798168182,
+                -0.09916545450687408,
+                0.07942687720060349
+            ],
+            "target_quat_wxyz": [
+                0.8639987111091614,
+                -0.018846118822693825,
+                0.02215750329196453,
+                0.5026530027389526
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000181_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 182,
+    "colors": {
+        "color_0": "colors/000182_color_0.jpg",
+        "color_2": "colors/000182_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13313275575637817,
+                -0.058638814836740494,
+                -0.014369086362421513,
+                0.08953414857387543,
+                0.1155279278755188,
+                -0.46818628907203674,
+                0.21629130840301514
+            ],
+            "ee_pos": [
+                0.21490007638931274,
+                0.1493169516324997,
+                0.08942952007055283
+            ],
+            "ee_quat_wxyz": [
+                0.9860683679580688,
+                0.01402378175407648,
+                -0.12745951116085052,
+                0.10595565289258957
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12358132749795914,
+                -0.2846013903617859,
+                0.2872259318828583,
+                -0.10130265355110168,
+                0.19986093044281006,
+                -0.07789555191993713,
+                0.740935742855072
+            ],
+            "ee_pos": [
+                0.1939273476600647,
+                -0.10657288134098053,
+                0.08749639242887497
+            ],
+            "ee_quat_wxyz": [
+                0.8736792206764221,
+                -0.01687685213983059,
+                0.01338448841124773,
+                0.486025333404541
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0514956712722778,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.26233628392219543,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280704736709595,
+                -0.07307714223861694,
+                0.1956823766231537,
+                0.5042450428009033,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.059714462608098984,
+                -0.0040499866008758545,
+                -0.07336492836475372,
+                0.13313275575637817,
+                -0.058638814836740494,
+                -0.014369086362421513,
+                0.08953414857387543,
+                0.1155279278755188,
+                -0.46818628907203674,
+                0.21629130840301514,
+                0.12358132749795914,
+                -0.2846013903617859,
+                0.2872259318828583,
+                -0.10130265355110168,
+                0.19986093044281006,
+                -0.07789555191993713,
+                0.740935742855072,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13685809112598685,
+                -0.07190631973793596,
+                -0.012708649330683691,
+                0.09935484036629738,
+                0.11963236652376666,
+                -0.4690907991861958,
+                0.22231206403048037
+            ],
+            "target_pos": [
+                0.21364913880825043,
+                0.1471932977437973,
+                0.08429502695798874
+            ],
+            "target_quat_wxyz": [
+                0.9848300218582153,
+                0.012030469253659248,
+                -0.12965478003025055,
+                0.11469399929046631
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10904955691912849,
+                -0.2706266830275532,
+                0.3173551599583633,
+                -0.0633619240202093,
+                0.1717701228504689,
+                -0.08117191910914587,
+                0.7362898197681256
+            ],
+            "target_pos": [
+                0.1938806027173996,
+                -0.09619510173797607,
+                0.07580696791410446
+            ],
+            "target_quat_wxyz": [
+                0.8613953590393066,
+                -0.02686549909412861,
+                0.028755132108926773,
+                0.5064083933830261
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000182_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 183,
+    "colors": {
+        "color_0": "colors/000183_color_0.jpg",
+        "color_2": "colors/000183_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1330488622188568,
+                -0.058638814836740494,
+                -0.013314474374055862,
+                0.09043296426534653,
+                0.1155279278755188,
+                -0.46819397807121277,
+                0.21701227128505707
+            ],
+            "ee_pos": [
+                0.21488088369369507,
+                0.14958810806274414,
+                0.0892324224114418
+            ],
+            "ee_quat_wxyz": [
+                0.9860332608222961,
+                0.014137797057628632,
+                -0.127033069729805,
+                0.10677607357501984
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11502459645271301,
+                -0.27659592032432556,
+                0.300624281167984,
+                -0.0857231616973877,
+                0.18764899671077728,
+                -0.0788542851805687,
+                0.7381822466850281
+            ],
+            "ee_pos": [
+                0.1944265514612198,
+                -0.10272311419248581,
+                0.08511306345462799
+            ],
+            "ee_quat_wxyz": [
+                0.8713568449020386,
+                -0.01843954250216484,
+                0.01717965677380562,
+                0.4900020956993103
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0517635345458984,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26237890124320984,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280571222305298,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042450428009033,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.05986177176237106,
+                -0.004529591184109449,
+                -0.07352139055728912,
+                0.1330488622188568,
+                -0.058638814836740494,
+                -0.013314474374055862,
+                0.09043296426534653,
+                0.1155279278755188,
+                -0.46819397807121277,
+                0.21701227128505707,
+                0.11502459645271301,
+                -0.27659592032432556,
+                0.300624281167984,
+                -0.0857231616973877,
+                0.18764899671077728,
+                -0.0788542851805687,
+                0.7381822466850281,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13860022810065836,
+                -0.07241818506584435,
+                -0.012800508825738292,
+                0.09896432040799721,
+                0.12097256483060252,
+                -0.4700600234526993,
+                0.22371470007727384
+            ],
+            "target_pos": [
+                0.21283645927906036,
+                0.14680594205856323,
+                0.08454880118370056
+            ],
+            "target_quat_wxyz": [
+                0.9846127033233643,
+                0.01231000293046236,
+                -0.13046297430992126,
+                0.11561036109924316
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10471774045620313,
+                -0.266741307787493,
+                0.3292042404529427,
+                -0.047769450409570056,
+                0.15640950415555024,
+                -0.08443239841305994,
+                0.7325050219292841
+            ],
+            "target_pos": [
+                0.1933049112558365,
+                -0.09463275969028473,
+                0.07316061854362488
+            ],
+            "target_quat_wxyz": [
+                0.8610153198242188,
+                -0.03100169636309147,
+                0.03234713152050972,
+                0.5066015720367432
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000183_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 184,
+    "colors": {
+        "color_0": "colors/000184_color_0.jpg",
+        "color_2": "colors/000184_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1329769641160965,
+                -0.058650799095630646,
+                -0.013278521597385406,
+                0.09149955958127975,
+                0.11561182141304016,
+                -0.46820929646492004,
+                0.21739576756954193
+            ],
+            "ee_pos": [
+                0.21487531065940857,
+                0.14959119260311127,
+                0.08900968730449677
+            ],
+            "ee_quat_wxyz": [
+                0.986078143119812,
+                0.01418270729482174,
+                -0.1265537440776825,
+                0.10692450404167175
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1091882735490799,
+                -0.26968100666999817,
+                0.31266844272613525,
+                -0.07035938650369644,
+                0.17290839552879333,
+                -0.08242078870534897,
+                0.7359809875488281
+            ],
+            "ee_pos": [
+                0.19441096484661102,
+                -0.09941869229078293,
+                0.08245733380317688
+            ],
+            "ee_quat_wxyz": [
+                0.8691309094429016,
+                -0.0216507725417614,
+                0.021143872290849686,
+                0.49365538358688354
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051897406578064,
+                -0.12746869027614594,
+                -0.002624811604619026,
+                0.26237037777900696,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1280704736709595,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.5041853785514832,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.059741247445344925,
+                -0.0049939751625061035,
+                -0.07377806305885315,
+                0.1330009251832962,
+                -0.0586627833545208,
+                -0.013254553079605103,
+                0.09155947715044022,
+                0.11559983342885971,
+                -0.46819397807121277,
+                0.2174341231584549,
+                0.10885271430015564,
+                -0.26910579204559326,
+                0.31347137689590454,
+                -0.06960438191890717,
+                0.17175792157649994,
+                -0.08364030718803406,
+                0.7357509136199951,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1410607216698665,
+                -0.07347205337540787,
+                -0.012956584112645173,
+                0.09645064056480326,
+                0.12203000354138656,
+                -0.4706349887712432,
+                0.2253321691335861
+            ],
+            "target_pos": [
+                0.21218326687812805,
+                0.1469026505947113,
+                0.08507262170314789
+            ],
+            "target_quat_wxyz": [
+                0.9843754768371582,
+                0.01160376239567995,
+                -0.13069622218608856,
+                0.11742540448904037
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10281561494644946,
+                -0.2634997693730947,
+                0.3376269174593023,
+                -0.03584969105007543,
+                0.14394275131689366,
+                -0.08788691240356135,
+                0.7286899710797614
+            ],
+            "target_pos": [
+                0.1925746500492096,
+                -0.09366423636674881,
+                0.07159732282161713
+            ],
+            "target_quat_wxyz": [
+                0.8607743978500366,
+                -0.031774748116731644,
+                0.03553478419780731,
+                0.5067494511604309
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000184_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 185,
+    "colors": {
+        "color_0": "colors/000185_color_0.jpg",
+        "color_2": "colors/000185_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13313275575637817,
+                -0.0586867518723011,
+                -0.012715263292193413,
+                0.09157146513462067,
+                0.11559983342885971,
+                -0.4682016372680664,
+                0.21850024163722992
+            ],
+            "ee_pos": [
+                0.2148217260837555,
+                0.1497829258441925,
+                0.08895336091518402
+            ],
+            "ee_quat_wxyz": [
+                0.9860028624534607,
+                0.014175459742546082,
+                -0.12642928957939148,
+                0.10776373744010925
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10360362380743027,
+                -0.26479145884513855,
+                0.32186034321784973,
+                -0.060807958245277405,
+                0.16239823400974274,
+                -0.09235332161188126,
+                0.7326062321662903
+            ],
+            "ee_pos": [
+                0.1946842074394226,
+                -0.09677980095148087,
+                0.08173811435699463
+            ],
+            "ee_quat_wxyz": [
+                0.8676285743713379,
+                -0.025255341082811356,
+                0.01907769963145256,
+                0.4962044358253479
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0513617992401123,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2623874247074127,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280704736709595,
+                -0.07311122864484787,
+                0.1955886334180832,
+                0.5041342377662659,
+                0.5073206424713135,
+                0.011348585598170757,
+                -0.05996890738606453,
+                -0.005108176730573177,
+                -0.07396378368139267,
+                0.13314473628997803,
+                -0.058698736131191254,
+                -0.012691294774413109,
+                0.09157146513462067,
+                0.11559983342885971,
+                -0.4682016372680664,
+                0.21863828599452972,
+                0.10310029238462448,
+                -0.2645038366317749,
+                0.3225194811820984,
+                -0.06001700088381767,
+                0.16149942576885223,
+                -0.09285186231136322,
+                0.7322841286659241,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14257514785287265,
+                -0.0738546747919519,
+                -0.012071206973329064,
+                0.09448294285593041,
+                0.12266903595278854,
+                -0.47088609304211304,
+                0.2271308900254617
+            ],
+            "target_pos": [
+                0.21224376559257507,
+                0.1477525234222412,
+                0.08507607877254486
+            ],
+            "target_quat_wxyz": [
+                0.9841146469116211,
+                0.012306375429034233,
+                -0.13071110844612122,
+                0.11950525641441345
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1027920845725251,
+                -0.260672061653755,
+                0.34410729275409246,
+                -0.027828680265631612,
+                0.1348987082738299,
+                -0.09402857059560919,
+                0.7253177144678944
+            ],
+            "target_pos": [
+                0.19162562489509583,
+                -0.09237483888864517,
+                0.07106278836727142
+            ],
+            "target_quat_wxyz": [
+                0.8601107001304626,
+                -0.03326264023780823,
+                0.03343847021460533,
+                0.5079222321510315
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000185_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 186,
+    "colors": {
+        "color_0": "colors/000186_color_0.jpg",
+        "color_2": "colors/000186_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13313275575637817,
+                -0.058710720390081406,
+                -0.012523515149950981,
+                0.09145162254571915,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.22065547108650208
+            ],
+            "ee_pos": [
+                0.21479716897010803,
+                0.14992842078208923,
+                0.0889797955751419
+            ],
+            "ee_quat_wxyz": [
+                0.9858679175376892,
+                0.014080745168030262,
+                -0.12650778889656067,
+                0.10891275852918625
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09834255278110504,
+                -0.2625144422054291,
+                0.3305009603500366,
+                -0.052682653069496155,
+                0.15138472616672516,
+                -0.09867332130670547,
+                0.7278509140014648
+            ],
+            "ee_pos": [
+                0.19495928287506104,
+                -0.09472395479679108,
+                0.08086245507001877
+            ],
+            "ee_quat_wxyz": [
+                0.8663850426673889,
+                -0.029989061877131462,
+                0.01883530616760254,
+                0.4981192648410797
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050652027130127,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2625749111175537,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.1955886334180832,
+                0.5042365193367004,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.0599822998046875,
+                -0.005336572416126728,
+                -0.07441587746143341,
+                0.13313275575637817,
+                -0.058698736131191254,
+                -0.012523515149950981,
+                0.0914875790476799,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.22109265625476837,
+                0.09749167412519455,
+                -0.26237064599990845,
+                0.3316035270690918,
+                -0.0517718531191349,
+                0.15030615031719208,
+                -0.09975477308034897,
+                0.7270609140396118,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14319233386357175,
+                -0.07349974165986688,
+                -0.01071883141737002,
+                0.09341317963788606,
+                0.12261343500707454,
+                -0.47076619915274853,
+                0.22881545409000675
+            ],
+            "target_pos": [
+                0.21229997277259827,
+                0.14848676323890686,
+                0.08501921594142914
+            ],
+            "target_quat_wxyz": [
+                0.9839778542518616,
+                0.012681163847446442,
+                -0.13054193556308746,
+                0.120770663022995
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1033099605035665,
+                -0.25775204719758416,
+                0.34893612359903514,
+                -0.022960326619210908,
+                0.12968077440260825,
+                -0.10065964837165467,
+                0.7219628153308718
+            ],
+            "target_pos": [
+                0.19126996397972107,
+                -0.0911857858300209,
+                0.07110141217708588
+            ],
+            "target_quat_wxyz": [
+                0.8602703213691711,
+                -0.03258231282234192,
+                0.03105187974870205,
+                0.5078475475311279
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000186_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 187,
+    "colors": {
+        "color_0": "colors/000187_color_0.jpg",
+        "color_2": "colors/000187_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13320466876029968,
+                -0.058758657425642014,
+                -0.011984225362539291,
+                0.09145162254571915,
+                0.11567173898220062,
+                -0.46820929646492004,
+                0.22311751544475555
+            ],
+            "ee_pos": [
+                0.21474726498126984,
+                0.15017394721508026,
+                0.08895725756883621
+            ],
+            "ee_quat_wxyz": [
+                0.9857088923454285,
+                0.013976271264255047,
+                -0.12646903097629547,
+                0.1104004830121994
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09460347145795822,
+                -0.26080071926116943,
+                0.33733198046684265,
+                -0.04619918763637543,
+                0.14559635519981384,
+                -0.10431069880723953,
+                0.7238088846206665
+            ],
+            "ee_pos": [
+                0.19510379433631897,
+                -0.09315239638090134,
+                0.08023302257061005
+            ],
+            "ee_quat_wxyz": [
+                0.8655821084976196,
+                -0.03233156353235245,
+                0.018216688185930252,
+                0.4993900954723358
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505716800689697,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26255786418914795,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280303001403809,
+                -0.07311122864484787,
+                0.19554845988750458,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06000908464193344,
+                -0.0055268993601202965,
+                -0.0745820552110672,
+                0.1332286298274994,
+                -0.05873468890786171,
+                -0.011876367032527924,
+                0.0914636105298996,
+                0.11567173898220062,
+                -0.46820929646492004,
+                0.22350101172924042,
+                0.09429188072681427,
+                -0.2604891061782837,
+                0.33813491463661194,
+                -0.04520449787378311,
+                0.14522483944892883,
+                -0.10514672100543976,
+                0.7231799364089966,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1431520503715386,
+                -0.07251691413363714,
+                -0.0092030371887615,
+                0.09345130238043028,
+                0.12197317290722179,
+                -0.47054730016432733,
+                0.2300911747165833
+            ],
+            "target_pos": [
+                0.2123132050037384,
+                0.14908936619758606,
+                0.08480606973171234
+            ],
+            "target_quat_wxyz": [
+                0.9839257001876831,
+                0.012910568155348301,
+                -0.13020086288452148,
+                0.1215369701385498
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10407379444677724,
+                -0.25434685969899923,
+                0.3526948159709846,
+                -0.021453786603085695,
+                0.12717546535441468,
+                -0.10518837626502482,
+                0.7169194035004406
+            ],
+            "target_pos": [
+                0.19110265374183655,
+                -0.08992918580770493,
+                0.0717540830373764
+            ],
+            "target_quat_wxyz": [
+                0.8619622588157654,
+                -0.030582861974835396,
+                0.029749566689133644,
+                0.505173921585083
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000187_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 188,
+    "colors": {
+        "color_0": "colors/000188_color_0.jpg",
+        "color_2": "colors/000188_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13331252336502075,
+                -0.058758657425642014,
+                -0.011049455963075161,
+                0.0914636105298996,
+                0.11565975844860077,
+                -0.46821698546409607,
+                0.22479721903800964
+            ],
+            "ee_pos": [
+                0.21469096839427948,
+                0.15048666298389435,
+                0.08892093598842621
+            ],
+            "ee_quat_wxyz": [
+                0.9855721592903137,
+                0.013991578482091427,
+                -0.12639875710010529,
+                0.11169202625751495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09350092709064484,
+                -0.2585836350917816,
+                0.34135866165161133,
+                -0.0400153286755085,
+                0.14140187203884125,
+                -0.11155109107494354,
+                0.7194216847419739
+            ],
+            "ee_pos": [
+                0.1950327605009079,
+                -0.09219859540462494,
+                0.0795198529958725
+            ],
+            "ee_quat_wxyz": [
+                0.8657517433166504,
+                -0.03351191431283951,
+                0.01726035587489605,
+                0.4990519881248474
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505315065383911,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.26254934072494507,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280571222305298,
+                -0.07311122864484787,
+                0.1955350637435913,
+                0.5042961835861206,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06003586947917938,
+                -0.005504065193235874,
+                -0.07461711764335632,
+                0.13331252336502075,
+                -0.05873468890786171,
+                -0.010893660597503185,
+                0.0914636105298996,
+                0.11564777046442032,
+                -0.46820929646492004,
+                0.22491994500160217,
+                0.09348893910646439,
+                -0.25833195447921753,
+                0.34170621633529663,
+                -0.03934421017765999,
+                0.1408386081457138,
+                -0.112532839179039,
+                0.7191302180290222,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1426364533937157,
+                -0.07134452792554292,
+                -0.007937266563812401,
+                0.09427476309802141,
+                0.12149560941492416,
+                -0.47031963312988667,
+                0.2309431981422772
+            ],
+            "target_pos": [
+                0.21245506405830383,
+                0.14942270517349243,
+                0.08463893830776215
+            ],
+            "target_quat_wxyz": [
+                0.9839280843734741,
+                0.01344279944896698,
+                -0.12990747392177582,
+                0.12177381664514542
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1047063181848048,
+                -0.2507574464147397,
+                0.35522791342110255,
+                -0.021925192077659757,
+                0.12573306222160568,
+                -0.10889406893223447,
+                0.710520750711845
+            ],
+            "target_pos": [
+                0.19120261073112488,
+                -0.08906837552785873,
+                0.07267998158931732
+            ],
+            "target_quat_wxyz": [
+                0.8638492822647095,
+                -0.029806453734636307,
+                0.02727050706744194,
+                0.5021277666091919
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8231109893321991
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000188_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 189,
+    "colors": {
+        "color_0": "colors/000189_color_0.jpg",
+        "color_2": "colors/000189_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13328854739665985,
+                -0.05873468890786171,
+                -0.009934922680258751,
+                0.0914636105298996,
+                0.11563578993082047,
+                -0.46821698546409607,
+                0.2252497524023056
+            ],
+            "ee_pos": [
+                0.21467283368110657,
+                0.1507796198129654,
+                0.08891153335571289
+            ],
+            "ee_quat_wxyz": [
+                0.9854871034622192,
+                0.014104054309427738,
+                -0.12637977302074432,
+                0.11244747787714005
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09350092709064484,
+                -0.2565942406654358,
+                0.34427082538604736,
+                -0.036851491779088974,
+                0.13785454630851746,
+                -0.1161990538239479,
+                0.7151725888252258
+            ],
+            "ee_pos": [
+                0.19487348198890686,
+                -0.09143394231796265,
+                0.07909590750932693
+            ],
+            "ee_quat_wxyz": [
+                0.8661249279975891,
+                -0.034322045743465424,
+                0.016482330858707428,
+                0.4983752965927124
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7578011749446869
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505180358886719,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26255786418914795,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280437707901,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.5043217539787292,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06012961268424988,
+                -0.005328971426934004,
+                -0.07462160289287567,
+                0.13328854739665985,
+                -0.05873468890786171,
+                -0.009934922680258751,
+                0.0914636105298996,
+                0.11563578993082047,
+                -0.46821698546409607,
+                0.2252497524023056,
+                0.09350092709064484,
+                -0.2565942406654358,
+                0.34427082538604736,
+                -0.036851491779088974,
+                0.13785454630851746,
+                -0.1161990538239479,
+                0.7151725888252258,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14226959652682972,
+                -0.0704862126774956,
+                -0.007265225397488768,
+                0.09518887500959805,
+                0.12147590048154433,
+                -0.47020405831010204,
+                0.23122543094933923
+            ],
+            "target_pos": [
+                0.2124735414981842,
+                0.14943638443946838,
+                0.08446107804775238
+            ],
+            "target_quat_wxyz": [
+                0.9839991331100464,
+                0.014020283706486225,
+                -0.1296492964029312,
+                0.12140939384698868
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1054276823938711,
+                -0.24797949916097534,
+                0.35642552013952267,
+                -0.025059057089396618,
+                0.12608786508695163,
+                -0.11042539089112746,
+                0.7050163165941743
+            ],
+            "target_pos": [
+                0.19118419289588928,
+                -0.0887068435549736,
+                0.07416759431362152
+            ],
+            "target_quat_wxyz": [
+                0.8647170662879944,
+                -0.028199246153235435,
+                0.02505899779498577,
+                0.5008404850959778
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8231109893321991
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000189_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 190,
+    "colors": {
+        "color_0": "colors/000190_color_0.jpg",
+        "color_2": "colors/000190_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1333005428314209,
+                -0.05873468890786171,
+                -0.009131979197263718,
+                0.0914636105298996,
+                0.11564777046442032,
+                -0.46821698546409607,
+                0.22547218203544617
+            ],
+            "ee_pos": [
+                0.21465478837490082,
+                0.15098313987255096,
+                0.08889896422624588
+            ],
+            "ee_quat_wxyz": [
+                0.9854327440261841,
+                0.014199095778167248,
+                -0.12635214626789093,
+                0.11294165998697281
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0938844233751297,
+                -0.2538378834724426,
+                0.3464639484882355,
+                -0.03633617237210274,
+                0.13608087599277496,
+                -0.11831594258546829,
+                0.709826648235321
+            ],
+            "ee_pos": [
+                0.19480250775814056,
+                -0.09060708433389664,
+                0.07909628748893738
+            ],
+            "ee_quat_wxyz": [
+                0.8669864535331726,
+                -0.03390899673104286,
+                0.015377596952021122,
+                0.4969387948513031
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7589456015869391
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505315065383911,
+                -0.12742608785629272,
+                -0.002611419651657343,
+                0.26255786418914795,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280704736709595,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.504338800907135,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060598328709602356,
+                -0.005131037440150976,
+                -0.07452064752578735,
+                0.1333005428314209,
+                -0.05873468890786171,
+                -0.009131979197263718,
+                0.0914636105298996,
+                0.11564777046442032,
+                -0.46821698546409607,
+                0.22547218203544617,
+                0.0938844233751297,
+                -0.2538378834724426,
+                0.3464639484882355,
+                -0.03633617237210274,
+                0.13608087599277496,
+                -0.11831594258546829,
+                0.709826648235321,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1417998054203709,
+                -0.0699583561392104,
+                -0.00703326731119893,
+                0.09616033127984926,
+                0.12175916068436135,
+                -0.47020217020976607,
+                0.23109655113914612
+            ],
+            "target_pos": [
+                0.21261563897132874,
+                0.1493309736251831,
+                0.0843719094991684
+            ],
+            "target_quat_wxyz": [
+                0.984066903591156,
+                0.014328643679618835,
+                -0.12964385747909546,
+                0.12082821875810623
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10598604630371306,
+                -0.2466875980514894,
+                0.35699149952555786,
+                -0.029403819691733342,
+                0.12752065865074214,
+                -0.11118507675490036,
+                0.7015477622263666
+            ],
+            "target_pos": [
+                0.19116893410682678,
+                -0.08862745016813278,
+                0.07539068162441254
+            ],
+            "target_quat_wxyz": [
+                0.8646040558815002,
+                -0.027434049174189568,
+                0.022769305855035782,
+                0.5011873245239258
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.9737778043746945
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000190_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 191,
+    "colors": {
+        "color_0": "colors/000191_color_0.jpg",
+        "color_2": "colors/000191_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13331252336502075,
+                -0.058710720390081406,
+                -0.009036106057465076,
+                0.0914636105298996,
+                0.11565975844860077,
+                -0.46820929646492004,
+                0.22553353011608124
+            ],
+            "ee_pos": [
+                0.21465009450912476,
+                0.15101343393325806,
+                0.08889473229646683
+            ],
+            "ee_quat_wxyz": [
+                0.9854253530502319,
+                0.014225933700799942,
+                -0.12634170055389404,
+                0.11301452666521072
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0941840261220932,
+                -0.2514769732952118,
+                0.3473028540611267,
+                -0.036264266818761826,
+                0.1357453167438507,
+                -0.11843866109848022,
+                0.7044039964675903
+            ],
+            "ee_pos": [
+                0.19490651786327362,
+                -0.09013452380895615,
+                0.07912891358137131
+            ],
+            "ee_quat_wxyz": [
+                0.8682275414466858,
+                -0.0329606831073761,
+                0.014871672727167606,
+                0.49484679102897644
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8024338139925238
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0504913330078125,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26254934072494507,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280303001403809,
+                -0.07308565825223923,
+                0.19552168250083923,
+                0.5043558478355408,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06067867949604988,
+                -0.005100584588944912,
+                -0.07448040693998337,
+                0.13331252336502075,
+                -0.058710720390081406,
+                -0.009036106057465076,
+                0.0914636105298996,
+                0.11565975844860077,
+                -0.46820929646492004,
+                0.22553353011608124,
+                0.0941840261220932,
+                -0.2514769732952118,
+                0.3473028540611267,
+                -0.036264266818761826,
+                0.1357453167438507,
+                -0.11843866109848022,
+                0.7044039964675903,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14115270362089727,
+                -0.06964269891921865,
+                -0.007234302151690685,
+                0.09727565009301878,
+                0.12203343859369001,
+                -0.4702619648132255,
+                0.2306251743733504
+            ],
+            "target_pos": [
+                0.2128187119960785,
+                0.14911198616027832,
+                0.08423970639705658
+            ],
+            "target_quat_wxyz": [
+                0.984186589717865,
+                0.014348537661135197,
+                -0.12957635521888733,
+                0.11992011219263077
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10630975872747012,
+                -0.2462850942743267,
+                0.3569100027709836,
+                -0.0351892303664156,
+                0.1298342488460609,
+                -0.11247693120537886,
+                0.6994762776374244
+            ],
+            "target_pos": [
+                0.19132831692695618,
+                -0.08852037042379379,
+                0.07737480103969574
+            ],
+            "target_quat_wxyz": [
+                0.8648903965950012,
+                -0.02669236809015274,
+                0.017865564674139023,
+                0.5009320974349976
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.239111121892929
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000191_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 192,
+    "colors": {
+        "color_0": "colors/000192_color_0.jpg",
+        "color_2": "colors/000192_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13328854739665985,
+                -0.058710720390081406,
+                -0.009012137539684772,
+                0.09149955958127975,
+                0.11564777046442032,
+                -0.46820929646492004,
+                0.22554120421409607
+            ],
+            "ee_pos": [
+                0.21465405821800232,
+                0.1510181725025177,
+                0.08889121562242508
+            ],
+            "ee_quat_wxyz": [
+                0.9854248762130737,
+                0.014222454279661179,
+                -0.12633416056632996,
+                0.11302755028009415
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09433981776237488,
+                -0.24966736137866974,
+                0.3474107086658478,
+                -0.036312203854322433,
+                0.13575729727745056,
+                -0.11844633519649506,
+                0.7004616856575012
+            ],
+            "ee_pos": [
+                0.19505155086517334,
+                -0.08987252414226532,
+                0.0792149156332016
+            ],
+            "ee_quat_wxyz": [
+                0.8692538738250732,
+                -0.03216859698295593,
+                0.014389872550964355,
+                0.49310827255249023
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8764400701915012
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505180358886719,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26251524686813354,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280169486999512,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.5044069886207581,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06063850224018097,
+                -0.005001617129892111,
+                -0.07436468452215195,
+                0.13328854739665985,
+                -0.058710720390081406,
+                -0.009024121798574924,
+                0.09147559106349945,
+                0.11565975844860077,
+                -0.46820929646492004,
+                0.2255488783121109,
+                0.09433981776237488,
+                -0.24948759377002716,
+                0.34731483459472656,
+                -0.036324188113212585,
+                0.13579325377941132,
+                -0.11843866109848022,
+                0.7000781893730164,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1402911283741366,
+                -0.06951796277925201,
+                -0.00772961080624196,
+                0.09850570882227282,
+                0.12231515760394426,
+                -0.4703596016211349,
+                0.23009485962634435
+            ],
+            "target_pos": [
+                0.21307799220085144,
+                0.148808091878891,
+                0.08415435254573822
+            ],
+            "target_quat_wxyz": [
+                0.9842802882194519,
+                0.014367708936333656,
+                -0.12961849570274353,
+                0.11910050362348557
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10642383312699302,
+                -0.24480231716863537,
+                0.35533291251550025,
+                -0.04217979362402405,
+                0.13478761282100052,
+                -0.11169354313245426,
+                0.6973189406083307
+            ],
+            "target_pos": [
+                0.19200792908668518,
+                -0.08835858851671219,
+                0.07965610921382904
+            ],
+            "target_quat_wxyz": [
+                0.866823673248291,
+                -0.021365715190768242,
+                0.014393032528460026,
+                0.4979488253593445
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3004444515705105
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000192_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 193,
+    "colors": {
+        "color_0": "colors/000193_color_0.jpg",
+        "color_2": "colors/000193_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13326458632946014,
+                -0.058698736131191254,
+                -0.009012137539684772,
+                0.09149955958127975,
+                0.11565975844860077,
+                -0.46821698546409607,
+                0.2255258709192276
+            ],
+            "ee_pos": [
+                0.21465902030467987,
+                0.15101748704910278,
+                0.08889699727296829
+            ],
+            "ee_quat_wxyz": [
+                0.985424280166626,
+                0.01423267275094986,
+                -0.1263502538204193,
+                0.11301320791244507
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09463942795991898,
+                -0.24828918278217316,
+                0.34714704751968384,
+                -0.036923397332429886,
+                0.13647635281085968,
+                -0.11837730556726456,
+                0.6981683969497681
+            ],
+            "ee_pos": [
+                0.1951419562101364,
+                -0.08971330523490906,
+                0.07940073311328888
+            ],
+            "ee_quat_wxyz": [
+                0.8699625730514526,
+                -0.031243013218045235,
+                0.013780954293906689,
+                0.49193400144577026
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.1579690241855491
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505046844482422,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26246410608291626,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1280571222305298,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.5043899416923523,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.060544759035110474,
+                -0.0049635497853159904,
+                -0.0743294432759285,
+                0.13326458632946014,
+                -0.05873468890786171,
+                -0.009012137539684772,
+                0.09149955958127975,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.22551819682121277,
+                0.09468736499547958,
+                -0.24809743463993073,
+                0.3471111059188843,
+                -0.03700728714466095,
+                0.13658422231674194,
+                -0.11837730556726456,
+                0.6978999376296997,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13938075342773612,
+                -0.06948050296935614,
+                -0.008266220281005564,
+                0.09974351669416405,
+                0.12235519578377951,
+                -0.4704763941902107,
+                0.2295360810976274
+            ],
+            "target_pos": [
+                0.2132628858089447,
+                0.1486113965511322,
+                0.0840526670217514
+            ],
+            "target_quat_wxyz": [
+                0.98436439037323,
+                0.01415841281414032,
+                -0.12958909571170807,
+                0.11846058815717697
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1067635768382317,
+                -0.24160029865390223,
+                0.35242093341854225,
+                -0.0506239647377891,
+                0.1408954016066854,
+                -0.10858530358766491,
+                0.6930843130138584
+            ],
+            "target_pos": [
+                0.19271942973136902,
+                -0.08806612342596054,
+                0.08218394219875336
+            ],
+            "target_quat_wxyz": [
+                0.8700060844421387,
+                -0.01600681245326996,
+                0.011367801576852798,
+                0.49264994263648987
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.338666671514511
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000193_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 194,
+    "colors": {
+        "color_0": "colors/000194_color_0.jpg",
+        "color_2": "colors/000194_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13324061036109924,
+                -0.05872270464897156,
+                -0.00900015328079462,
+                0.09155947715044022,
+                0.11568372696638107,
+                -0.46820929646492004,
+                0.2255028635263443
+            ],
+            "ee_pos": [
+                0.21466359496116638,
+                0.15101194381713867,
+                0.08888780325651169
+            ],
+            "ee_quat_wxyz": [
+                0.9854284524917603,
+                0.014236154966056347,
+                -0.12632796168327332,
+                0.11300168186426163
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09537046402692795,
+                -0.24582043290138245,
+                0.34738674759864807,
+                -0.03904460743069649,
+                0.13827398419380188,
+                -0.1176946833729744,
+                0.696020781993866
+            ],
+            "ee_pos": [
+                0.1951180100440979,
+                -0.08919590711593628,
+                0.07985454052686691
+            ],
+            "ee_quat_wxyz": [
+                0.8705745935440063,
+                -0.029239917173981667,
+                0.012583853676915169,
+                0.49100568890571594
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.512359807736324
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505180358886719,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26246410608291626,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.5043728947639465,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06051797792315483,
+                -0.004963547457009554,
+                -0.07427925616502762,
+                0.13324061036109924,
+                -0.058710720390081406,
+                -0.00900015328079462,
+                0.09155947715044022,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.22549518942832947,
+                0.09555022418498993,
+                -0.24554479122161865,
+                0.3472309410572052,
+                -0.03936817869544029,
+                0.13884922862052917,
+                -0.11758730560541153,
+                0.6955452561378479,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13842790093191834,
+                -0.06945962380875403,
+                -0.008767409756568369,
+                0.10096350593306161,
+                0.12230506281562564,
+                -0.4705342265875307,
+                0.2289868715914102
+            ],
+            "target_pos": [
+                0.2134856879711151,
+                0.1484278440475464,
+                0.08396922051906586
+            ],
+            "target_quat_wxyz": [
+                0.9844493269920349,
+                0.01406762283295393,
+                -0.1295425295829773,
+                0.11781483888626099
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10750324870805666,
+                -0.2373877919662427,
+                0.3485829246632819,
+                -0.060310866352596484,
+                0.14688429022516283,
+                -0.10457545916326813,
+                0.6868707622455174
+            ],
+            "target_pos": [
+                0.1933428943157196,
+                -0.08795385807752609,
+                0.08476649224758148
+            ],
+            "target_quat_wxyz": [
+                0.8732370138168335,
+                -0.012243632227182388,
+                0.0073908488266170025,
+                0.48708575963974
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3524444484710694
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000194_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 195,
+    "colors": {
+        "color_0": "colors/000195_color_0.jpg",
+        "color_2": "colors/000195_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13320466876029968,
+                -0.05872270464897156,
+                -0.00900015328079462,
+                0.09166733920574188,
+                0.11564777046442032,
+                -0.46821698546409607,
+                0.2254568338394165
+            ],
+            "ee_pos": [
+                0.21466971933841705,
+                0.15100765228271484,
+                0.08887143433094025
+            ],
+            "ee_quat_wxyz": [
+                0.9854359030723572,
+                0.014223053120076656,
+                -0.12629367411136627,
+                0.11297672241926193
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09695237874984741,
+                -0.24254873394966125,
+                0.3468115031719208,
+                -0.043071307241916656,
+                0.14172545075416565,
+                -0.11471875756978989,
+                0.6916412711143494
+            ],
+            "ee_pos": [
+                0.19514234364032745,
+                -0.08873261511325836,
+                0.08050553500652313
+            ],
+            "ee_quat_wxyz": [
+                0.8720080256462097,
+                -0.025919726118445396,
+                0.01151160430163145,
+                0.4886693060398102
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.6687647821774618
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505046844482422,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2624555826187134,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1280571222305298,
+                -0.07309418171644211,
+                0.1955350637435913,
+                0.5043302774429321,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06051797792315483,
+                -0.004971158225089312,
+                -0.07418401539325714,
+                0.13320466876029968,
+                -0.05872270464897156,
+                -0.00900015328079462,
+                0.09166733920574188,
+                0.11564777046442032,
+                -0.46821698546409607,
+                0.2254568338394165,
+                0.09695237874984741,
+                -0.24254873394966125,
+                0.3468115031719208,
+                -0.043071307241916656,
+                0.14172545075416565,
+                -0.11471875756978989,
+                0.6916412711143494,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13940720308113075,
+                -0.06974633650025416,
+                -0.009793329551760557,
+                0.10034496287016217,
+                0.12248868950215148,
+                -0.4708349475356158,
+                0.22838195223076257
+            ],
+            "target_pos": [
+                0.21265698969364166,
+                0.14805807173252106,
+                0.08410271257162094
+            ],
+            "target_quat_wxyz": [
+                0.9845332503318787,
+                0.013929231092333794,
+                -0.12953050434589386,
+                0.11714152246713638
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1105575490852587,
+                -0.2338878156178354,
+                0.3445186430109065,
+                -0.07288119325213309,
+                0.15272656538064405,
+                -0.10136298184055,
+                0.6799305612964794
+            ],
+            "target_pos": [
+                0.19274230301380157,
+                -0.08833508938550949,
+                0.08769699186086655
+            ],
+            "target_quat_wxyz": [
+                0.875918447971344,
+                -0.009033930487930775,
+                0.0018098460277542472,
+                0.4823712408542633
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.37422222495079
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000195_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 196,
+    "colors": {
+        "color_0": "colors/000196_color_0.jpg",
+        "color_2": "colors/000196_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13318069279193878,
+                -0.058710720390081406,
+                -0.009191900491714478,
+                0.09171527624130249,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.22540314495563507
+            ],
+            "ee_pos": [
+                0.21467775106430054,
+                0.15095801651477814,
+                0.08886829763650894
+            ],
+            "ee_quat_wxyz": [
+                0.985451340675354,
+                0.014218941330909729,
+                -0.12628836929798126,
+                0.11284808814525604
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09944510459899902,
+                -0.24123047292232513,
+                0.34620028734207153,
+                -0.0514482781291008,
+                0.14485332369804382,
+                -0.11036992073059082,
+                0.6868629455566406
+            ],
+            "ee_pos": [
+                0.1950177401304245,
+                -0.0885053500533104,
+                0.08169326186180115
+            ],
+            "ee_quat_wxyz": [
+                0.87334144115448,
+                -0.02360505610704422,
+                0.009913172572851181,
+                0.48643529415130615
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050718903541565,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2624555826187134,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280437707901,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.5042961835861206,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0603037066757679,
+                -0.005001606419682503,
+                -0.07412393391132355,
+                0.13320466876029968,
+                -0.058710720390081406,
+                -0.009191900491714478,
+                0.09170328825712204,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.2254108190536499,
+                0.09986454993486404,
+                -0.24121849238872528,
+                0.3461763262748718,
+                -0.05253884196281433,
+                0.1456083357334137,
+                -0.11012448370456696,
+                0.6862186789512634,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13997654716405972,
+                -0.06984166511160946,
+                -0.010516117096639743,
+                0.10007690836302938,
+                0.1226787220150958,
+                -0.47114494575345234,
+                0.2279495168931684
+            ],
+            "target_pos": [
+                0.21282334625720978,
+                0.14801065623760223,
+                0.08404573053121567
+            ],
+            "target_quat_wxyz": [
+                0.9845517873764038,
+                0.014102115295827389,
+                -0.12966352701187134,
+                0.11681725084781647
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11370214144188345,
+                -0.23051427333115104,
+                0.33995358850203083,
+                -0.08676827347921193,
+                0.15904417447431296,
+                -0.09809003794583024,
+                0.6723013903872361
+            ],
+            "target_pos": [
+                0.19324196875095367,
+                -0.08862582594156265,
+                0.09090825170278549
+            ],
+            "target_quat_wxyz": [
+                0.8790677189826965,
+                -0.0044626956805586815,
+                -0.004035914782434702,
+                0.47665897011756897
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.380444446802139
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000196_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 197,
+    "colors": {
+        "color_0": "colors/000197_color_0.jpg",
+        "color_2": "colors/000197_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13320466876029968,
+                -0.058710720390081406,
+                -0.009131979197263718,
+                0.0918111503124237,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.2254108190536499
+            ],
+            "ee_pos": [
+                0.21467022597789764,
+                0.1509729027748108,
+                0.08884110301733017
+            ],
+            "ee_quat_wxyz": [
+                0.9854552149772644,
+                0.014231241308152676,
+                -0.12622793018817902,
+                0.11288053542375565
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10366354882717133,
+                -0.2394687831401825,
+                0.34482210874557495,
+                -0.062557652592659,
+                0.1510491818189621,
+                -0.10743235051631927,
+                0.6808727383613586
+            ],
+            "ee_pos": [
+                0.19471879303455353,
+                -0.0883747935295105,
+                0.08342796564102173
+            ],
+            "ee_quat_wxyz": [
+                0.8752511739730835,
+                -0.019610855728387833,
+                0.0065850550308823586,
+                0.48322612047195435
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0513349771499634,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2623533308506012,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.5042535662651062,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06019657105207443,
+                -0.00513862119987607,
+                -0.07393377274274826,
+                0.13320466876029968,
+                -0.058710720390081406,
+                -0.009108011610805988,
+                0.0918111503124237,
+                0.11565975844860077,
+                -0.46820929646492004,
+                0.2254108190536499,
+                0.10426276177167892,
+                -0.23907330632209778,
+                0.34461838006973267,
+                -0.06411560624837875,
+                0.1520199030637741,
+                -0.10714856535196304,
+                0.680121123790741,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14011390296774567,
+                -0.06976768720908536,
+                -0.010826109188607992,
+                0.10008116816496891,
+                0.12262199703232968,
+                -0.47120506350230995,
+                0.22755007740206384
+            ],
+            "target_pos": [
+                0.21299363672733307,
+                0.14810480177402496,
+                0.08399911969900131
+            ],
+            "target_quat_wxyz": [
+                0.9845921993255615,
+                0.014036457985639572,
+                -0.12949560582637787,
+                0.11667076498270035
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11685219376615036,
+                -0.22589066350138892,
+                0.33415372049461145,
+                -0.10100738873598294,
+                0.16716776707406178,
+                -0.09654108041054543,
+                0.6630301742649349
+            ],
+            "target_pos": [
+                0.19409139454364777,
+                -0.08902747184038162,
+                0.09451504796743393
+            ],
+            "target_quat_wxyz": [
+                0.8836801648139954,
+                0.00272014900110662,
+                -0.013201447203755379,
+                0.46789708733558655
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.387555557489395
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000197_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 198,
+    "colors": {
+        "color_0": "colors/000198_color_0.jpg",
+        "color_2": "colors/000198_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13319267332553864,
+                -0.05872270464897156,
+                -0.009227853268384933,
+                0.09184709936380386,
+                0.11570769548416138,
+                -0.46821698546409607,
+                0.22533412277698517
+            ],
+            "ee_pos": [
+                0.21467480063438416,
+                0.1509413868188858,
+                0.08883701264858246
+            ],
+            "ee_quat_wxyz": [
+                0.9854666590690613,
+                0.014235314913094044,
+                -0.12621942162513733,
+                0.11278946697711945
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1079898551106453,
+                -0.23625701665878296,
+                0.342389315366745,
+                -0.07528490573167801,
+                0.15400928258895874,
+                -0.1034286618232727,
+                0.6735326647758484
+            ],
+            "ee_pos": [
+                0.194563090801239,
+                -0.08817089349031448,
+                0.08543287962675095
+            ],
+            "ee_quat_wxyz": [
+                0.8775728940963745,
+                -0.016685089096426964,
+                0.0028980982024222612,
+                0.47914403676986694
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0518438816070557,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2623533308506012,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1280704736709595,
+                -0.07307714223861694,
+                0.1955886334180832,
+                0.5042791366577148,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06018317863345146,
+                -0.0052756452932953835,
+                -0.07384385913610458,
+                0.13318069279193878,
+                -0.058710720390081406,
+                -0.00926380604505539,
+                0.0918111503124237,
+                0.11570769548416138,
+                -0.46821698546409607,
+                0.22532644867897034,
+                0.10876882821321487,
+                -0.23577764630317688,
+                0.34207773208618164,
+                -0.07759785652160645,
+                0.15488412976264954,
+                -0.10283807665109634,
+                0.671914279460907,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1397339922512177,
+                -0.0695990893634402,
+                -0.010699257966448387,
+                0.10060527678007654,
+                0.1222607876128615,
+                -0.47100398270738963,
+                0.22725571923895777
+            ],
+            "target_pos": [
+                0.213203564286232,
+                0.14824609458446503,
+                0.08385118097066879
+            ],
+            "target_quat_wxyz": [
+                0.9846335053443909,
+                0.013847528025507927,
+                -0.12910161912441254,
+                0.11678154021501541
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11917006800155933,
+                -0.2180827754190754,
+                0.325688638405144,
+                -0.11458847394868499,
+                0.1772488150201711,
+                -0.09434254633778047,
+                0.6506988639195685
+            ],
+            "target_pos": [
+                0.19595052301883698,
+                -0.08968580514192581,
+                0.0981956347823143
+            ],
+            "target_quat_wxyz": [
+                0.8902693390846252,
+                0.012804822064936161,
+                -0.02157066948711872,
+                0.45474302768707275
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.397333334684372
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000198_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 199,
+    "colors": {
+        "color_0": "colors/000199_color_0.jpg",
+        "color_2": "colors/000199_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1332286298274994,
+                -0.058710720390081406,
+                -0.00914396345615387,
+                0.09191900491714478,
+                0.11563578993082047,
+                -0.46820929646492004,
+                0.2253648042678833
+            ],
+            "ee_pos": [
+                0.21466438472270966,
+                0.15096935629844666,
+                0.08881112188100815
+            ],
+            "ee_quat_wxyz": [
+                0.9854668974876404,
+                0.014221757650375366,
+                -0.1261579394340515,
+                0.112857885658741
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11278354376554489,
+                -0.23033681511878967,
+                0.3379431664943695,
+                -0.08885104954242706,
+                0.16191886365413666,
+                -0.1005907952785492,
+                0.6631859540939331
+            ],
+            "ee_pos": [
+                0.19469602406024933,
+                -0.08804051578044891,
+                0.08802880346775055
+            ],
+            "ee_quat_wxyz": [
+                0.8812432289123535,
+                -0.010425456799566746,
+                -0.0027997256256639957,
+                0.4725397527217865
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519375801086426,
+                -0.12741756439208984,
+                -0.00258463597856462,
+                0.2623107135295868,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1280704736709595,
+                -0.07309418171644211,
+                0.19557523727416992,
+                0.5042535662651062,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06018317863345146,
+                -0.005321325268596411,
+                -0.07382390648126602,
+                0.13320466876029968,
+                -0.058698736131191254,
+                -0.009108011610805988,
+                0.09190702438354492,
+                0.11561182141304016,
+                -0.46821698546409607,
+                0.2253878116607666,
+                0.11321497708559036,
+                -0.22970163822174072,
+                0.33751174807548523,
+                -0.09009740501642227,
+                0.16257800161838531,
+                -0.10032235085964203,
+                0.6620661616325378,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13890224626046174,
+                -0.06936292737805666,
+                -0.010477349758968198,
+                0.10156197715454574,
+                0.12196547008812168,
+                -0.47062967075044104,
+                0.22702729445701902
+            ],
+            "target_pos": [
+                0.2133844643831253,
+                0.1482059806585312,
+                0.08374770730733871
+            ],
+            "target_quat_wxyz": [
+                0.9846997261047363,
+                0.013968507759273052,
+                -0.12883271276950836,
+                0.1165049597620964
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11963980850086849,
+                -0.20640571576854994,
+                0.3142678305173534,
+                -0.1256129551919829,
+                0.18819846218802444,
+                -0.09143997337029505,
+                0.6331071275993171
+            ],
+            "target_pos": [
+                0.1988644152879715,
+                -0.0906081423163414,
+                0.10154672712087631
+            ],
+            "target_quat_wxyz": [
+                0.8989005088806152,
+                0.023466499522328377,
+                -0.02963350899517536,
+                0.4365192949771881
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3991111123561857
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000199_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 200,
+    "colors": {
+        "color_0": "colors/000200_color_0.jpg",
+        "color_2": "colors/000200_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13315673172473907,
+                -0.058698736131191254,
+                -0.009072058834135532,
+                0.09199091047048569,
+                0.11563578993082047,
+                -0.46821698546409607,
+                0.2253417819738388
+            ],
+            "ee_pos": [
+                0.21467716991901398,
+                0.15098226070404053,
+                0.08880966156721115
+            ],
+            "ee_quat_wxyz": [
+                0.9854655265808105,
+                0.014235146343708038,
+                -0.12615860998630524,
+                0.11286771297454834
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11607920378446579,
+                -0.2224152386188507,
+                0.3315076529979706,
+                -0.10214155167341232,
+                0.1723451465368271,
+                -0.09857361018657684,
+                0.6499783992767334
+            ],
+            "ee_pos": [
+                0.1954430341720581,
+                -0.08807560056447983,
+                0.09118124842643738
+            ],
+            "ee_quat_wxyz": [
+                0.8859209418296814,
+                -0.0026254269760102034,
+                -0.010183587670326233,
+                0.4637170135974884
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051803708076477,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2623448073863983,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280437707901,
+                -0.07310270518064499,
+                0.19554845988750458,
+                0.504270613193512,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06015639379620552,
+                -0.005321325268596411,
+                -0.07382390648126602,
+                0.13315673172473907,
+                -0.058698736131191254,
+                -0.009072058834135532,
+                0.09199091047048569,
+                0.11563578993082047,
+                -0.46821698546409607,
+                0.2253417819738388,
+                0.11607920378446579,
+                -0.2224152386188507,
+                0.3315076529979706,
+                -0.10214155167341232,
+                0.1723451465368271,
+                -0.09857361018657684,
+                0.6499783992767334,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13960015401325293,
+                -0.06913725994742859,
+                -0.010648328558794874,
+                0.10125277147815895,
+                0.12180624234527448,
+                -0.4706022534976495,
+                0.22650053194850112
+            ],
+            "target_pos": [
+                0.21272744238376617,
+                0.14821751415729523,
+                0.0837545394897461
+            ],
+            "target_quat_wxyz": [
+                0.9847753047943115,
+                0.01416248083114624,
+                -0.12869876623153687,
+                0.11598982661962509
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11890139075666864,
+                -0.191815849173761,
+                0.30174186945656806,
+                -0.13475940920754376,
+                0.19491321202027304,
+                -0.08719802101455629,
+                0.6075616780891365
+            ],
+            "target_pos": [
+                0.20190872251987457,
+                -0.09113329648971558,
+                0.10436153411865234
+            ],
+            "target_quat_wxyz": [
+                0.909294068813324,
+                0.029030850157141685,
+                -0.03486454114317894,
+                0.4136737287044525
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.4062222230434416
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000200_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 201,
+    "colors": {
+        "color_0": "colors/000201_color_0.jpg",
+        "color_2": "colors/000201_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13316871225833893,
+                -0.05872270464897156,
+                -0.009179916232824326,
+                0.09218265861272812,
+                0.11568372696638107,
+                -0.46821698546409607,
+                0.22531111538410187
+            ],
+            "ee_pos": [
+                0.21467414498329163,
+                0.15094690024852753,
+                0.08876591920852661
+            ],
+            "ee_quat_wxyz": [
+                0.9854864478111267,
+                0.014241878874599934,
+                -0.12606261670589447,
+                0.11279100924730301
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11654659360647202,
+                -0.21251626312732697,
+                0.32410138845443726,
+                -0.11429355293512344,
+                0.18088988959789276,
+                -0.09638001769781113,
+                0.6339329481124878
+            ],
+            "ee_pos": [
+                0.196902334690094,
+                -0.08802635967731476,
+                0.09468472748994827
+            ],
+            "ee_quat_wxyz": [
+                0.8911245465278625,
+                0.004565350711345673,
+                -0.018417494371533394,
+                0.4533618986606598
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512948036193848,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2624044418334961,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1280571222305298,
+                -0.07310270518064499,
+                0.1955350637435913,
+                0.5042535662651062,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06046440824866295,
+                -0.005367004778236151,
+                -0.0738941878080368,
+                0.13315673172473907,
+                -0.058698736131191254,
+                -0.009191900491714478,
+                0.09218265861272812,
+                0.11567173898220062,
+                -0.46821698546409607,
+                0.22531111538410187,
+                0.11654659360647202,
+                -0.21142570674419403,
+                0.3232864737510681,
+                -0.1152522936463356,
+                0.18146513402462006,
+                -0.09614992141723633,
+                0.6321842074394226,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13983200527103862,
+                -0.06909710137528363,
+                -0.010897763200605162,
+                0.10126666143678273,
+                0.12177259741296967,
+                -0.4704704050720008,
+                0.22617986260586873
+            ],
+            "target_pos": [
+                0.2129666954278946,
+                0.1480645388364792,
+                0.08370518684387207
+            ],
+            "target_quat_wxyz": [
+                0.9848190546035767,
+                0.014023293741047382,
+                -0.12852975726127625,
+                0.11582282185554504
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11488006634050563,
+                -0.1751352956692261,
+                0.28842512623469013,
+                -0.13801855624914763,
+                0.1939821022069495,
+                -0.08458133035318446,
+                0.5747296336220709
+            ],
+            "target_pos": [
+                0.20638562738895416,
+                -0.09186252951622009,
+                0.10583579540252686
+            ],
+            "target_quat_wxyz": [
+                0.9204190969467163,
+                0.028926201164722443,
+                -0.04075635224580765,
+                0.3877253234386444
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.399555556774139
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000201_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 202,
+    "colors": {
+        "color_0": "colors/000202_color_0.jpg",
+        "color_2": "colors/000202_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13315673172473907,
+                -0.05872270464897156,
+                -0.009359680116176605,
+                0.09225456416606903,
+                0.11567173898220062,
+                -0.46820929646492004,
+                0.2252497524023056
+            ],
+            "ee_pos": [
+                0.21467933058738708,
+                0.1508997082710266,
+                0.08875374495983124
+            ],
+            "ee_quat_wxyz": [
+                0.9855040311813354,
+                0.014219318516552448,
+                -0.1260334700345993,
+                0.1126728281378746
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.116175077855587,
+                -0.1959061324596405,
+                0.3094926178455353,
+                -0.12498348206281662,
+                0.18591128289699554,
+                -0.09362652152776718,
+                0.6071112751960754
+            ],
+            "ee_pos": [
+                0.19963160157203674,
+                -0.08882519602775574,
+                0.09848884493112564
+            ],
+            "ee_quat_wxyz": [
+                0.9000853300094604,
+                0.012394500896334648,
+                -0.02761778235435486,
+                0.4346608519554138
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506922006607056,
+                -0.1274431198835373,
+                -0.0025712440256029367,
+                0.2624470591545105,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.19554845988750458,
+                0.5042876601219177,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06046440824866295,
+                -0.005481194704771042,
+                -0.07403993606567383,
+                0.13313275575637817,
+                -0.058698736131191254,
+                -0.00938364863395691,
+                0.09225456416606903,
+                0.11565975844860077,
+                -0.46821698546409607,
+                0.22525742650032043,
+                0.11603126674890518,
+                -0.19407254457473755,
+                0.3079586327075958,
+                -0.1256905496120453,
+                0.18640263378620148,
+                -0.09337341785430908,
+                0.6036368012428284,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13982939258349053,
+                -0.06921827833911645,
+                -0.011320935176366578,
+                0.10138679502838818,
+                0.12172673822729829,
+                -0.47035240859366434,
+                0.22588446348175045
+            ],
+            "target_pos": [
+                0.21309734880924225,
+                0.14784099161624908,
+                0.08369362354278564
+            ],
+            "target_quat_wxyz": [
+                0.9848776459693909,
+                0.013711825013160706,
+                -0.12847819924354553,
+                0.11541837453842163
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10788344886611284,
+                -0.15772310849889198,
+                0.27458691272384567,
+                -0.136050926396728,
+                0.1870956825398975,
+                -0.08181153595446701,
+                0.5383657180836903
+            ],
+            "target_pos": [
+                0.21111394464969635,
+                -0.09288474917411804,
+                0.10662555694580078
+            ],
+            "target_quat_wxyz": [
+                0.9302937984466553,
+                0.028500808402895927,
+                -0.04341442883014679,
+                0.3631202280521393
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3991111123561857
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000202_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 203,
+    "colors": {
+        "color_0": "colors/000203_color_0.jpg",
+        "color_2": "colors/000203_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13319267332553864,
+                -0.058698736131191254,
+                -0.009287774562835693,
+                0.09230250120162964,
+                0.11563578993082047,
+                -0.46820929646492004,
+                0.2252957671880722
+            ],
+            "ee_pos": [
+                0.2146691530942917,
+                0.15092633664608002,
+                0.08873441815376282
+            ],
+            "ee_quat_wxyz": [
+                0.9855022430419922,
+                0.014224602840840816,
+                -0.12599018216133118,
+                0.11273610591888428
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11413776129484177,
+                -0.1790802776813507,
+                0.29496774077415466,
+                -0.12904614210128784,
+                0.18710970878601074,
+                -0.09210788458585739,
+                0.5746292471885681
+            ],
+            "ee_pos": [
+                0.2027580738067627,
+                -0.09002762287855148,
+                0.10109549015760422
+            ],
+            "ee_quat_wxyz": [
+                0.9098762273788452,
+                0.018799394369125366,
+                -0.03433771803975105,
+                0.4130288064479828
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505716800689697,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2624385356903076,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1280571222305298,
+                -0.07308565825223923,
+                0.1955350637435913,
+                0.5042876601219177,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06035727262496948,
+                -0.00546597596257925,
+                -0.07408004254102707,
+                0.13318069279193878,
+                -0.058698736131191254,
+                -0.00932372733950615,
+                0.09229052066802979,
+                0.11563578993082047,
+                -0.46821698546409607,
+                0.22528043389320374,
+                0.11353854835033417,
+                -0.17669542133808136,
+                0.2930622398853302,
+                -0.12941764295101166,
+                0.18713366985321045,
+                -0.09187011420726776,
+                0.5691759586334229,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13974084722505192,
+                -0.0694509736197102,
+                -0.011883200787798868,
+                0.10156564591370967,
+                0.12161487770954724,
+                -0.47036577576881544,
+                0.22552168986550347
+            ],
+            "target_pos": [
+                0.2131185084581375,
+                0.14758838713169098,
+                0.08369040489196777
+            ],
+            "target_quat_wxyz": [
+                0.984940767288208,
+                0.013384977355599403,
+                -0.12854671478271484,
+                0.1148403212428093
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09805866318685269,
+                -0.14100383089116508,
+                0.2612260437021006,
+                -0.127836386438537,
+                0.17418577406492586,
+                -0.08123984780780447,
+                0.4997887463753866
+            ],
+            "target_pos": [
+                0.2160627394914627,
+                -0.093989297747612,
+                0.10632908344268799
+            ],
+            "target_quat_wxyz": [
+                0.939571738243103,
+                0.024026725441217422,
+                -0.04596409946680069,
+                0.338400661945343
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.39200000166893
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000203_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 204,
+    "colors": {
+        "color_0": "colors/000204_color_0.jpg",
+        "color_2": "colors/000204_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13318069279193878,
+                -0.058698736131191254,
+                -0.009359680116176605,
+                0.09229052066802979,
+                0.11562380194664001,
+                -0.46820929646492004,
+                0.22528043389320374
+            ],
+            "ee_pos": [
+                0.21467316150665283,
+                0.15090832114219666,
+                0.08874038606882095
+            ],
+            "ee_quat_wxyz": [
+                0.9855055212974548,
+                0.014209495857357979,
+                -0.12600328028202057,
+                0.11269494146108627
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11009907722473145,
+                -0.16257800161838531,
+                0.28201279044151306,
+                -0.12956145405769348,
+                0.182328000664711,
+                -0.09009069949388504,
+                0.5385576486587524
+            ],
+            "ee_pos": [
+                0.20610876381397247,
+                -0.09113463759422302,
+                0.10297980159521103
+            ],
+            "ee_quat_wxyz": [
+                0.9195259809494019,
+                0.02248544618487358,
+                -0.039033278822898865,
+                0.3904392421245575
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505582094192505,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26243001222610474,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280704736709595,
+                -0.07309418171644211,
+                0.19554845988750458,
+                0.504270613193512,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06035727262496948,
+                -0.0053898487240076065,
+                -0.07406977564096451,
+                0.13318069279193878,
+                -0.058710720390081406,
+                -0.00938364863395691,
+                0.09230250120162964,
+                0.11561182141304016,
+                -0.46821698546409607,
+                0.22523440420627594,
+                0.1092122420668602,
+                -0.15915051102638245,
+                0.2794002294540405,
+                -0.12957344949245453,
+                0.18139323592185974,
+                -0.08963049948215485,
+                0.5318541526794434,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13945460389933587,
+                -0.06970493013798672,
+                -0.012441354675620294,
+                0.10196236573689554,
+                0.12171991127961981,
+                -0.47058790358177766,
+                0.22536241103774934
+            ],
+            "target_pos": [
+                0.21314455568790436,
+                0.1473803073167801,
+                0.08368182182312012
+            ],
+            "target_quat_wxyz": [
+                0.9849379658699036,
+                0.01342740748077631,
+                -0.12882894277572632,
+                0.11454261094331741
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0855357356111664,
+                -0.1251160211427937,
+                0.2485543363051692,
+                -0.11441471863264624,
+                0.1542434750300883,
+                -0.08046015230647767,
+                0.4569142144136591
+            ],
+            "target_pos": [
+                0.22152991592884064,
+                -0.09504860639572144,
+                0.1052926778793335
+            ],
+            "target_quat_wxyz": [
+                0.9496486186981201,
+                0.014756075106561184,
+                -0.04479019343852997,
+                0.309747576713562
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3906666684150695
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000204_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 205,
+    "colors": {
+        "color_0": "colors/000205_color_0.jpg",
+        "color_2": "colors/000205_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13319267332553864,
+                -0.058710720390081406,
+                -0.009407617151737213,
+                0.09230250120162964,
+                0.11563578993082047,
+                -0.46820929646492004,
+                0.22524207830429077
+            ],
+            "ee_pos": [
+                0.214671790599823,
+                0.1508929431438446,
+                0.0887359082698822
+            ],
+            "ee_quat_wxyz": [
+                0.9855116009712219,
+                0.014206914231181145,
+                -0.12599292397499084,
+                0.11265368014574051
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10342386364936829,
+                -0.1437867283821106,
+                0.2655584514141083,
+                -0.12582238018512726,
+                0.17041568458080292,
+                -0.08931603282690048,
+                0.4968717396259308
+            ],
+            "ee_pos": [
+                0.210294708609581,
+                -0.09288614988327026,
+                0.10453931242227554
+            ],
+            "ee_quat_wxyz": [
+                0.93027663230896,
+                0.023441774770617485,
+                -0.04332926869392395,
+                0.3635360598564148
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505315065383911,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2624470591545105,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280437707901,
+                -0.07308565825223923,
+                0.19554845988750458,
+                0.5042791366577148,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.060625109821558,
+                -0.005328938364982605,
+                -0.07397931069135666,
+                0.13319267332553864,
+                -0.058710720390081406,
+                -0.009407617151737213,
+                0.09230250120162964,
+                0.11563578993082047,
+                -0.46820929646492004,
+                0.22524207830429077,
+                0.10342386364936829,
+                -0.1437867283821106,
+                0.2655584514141083,
+                -0.12582238018512726,
+                0.17041568458080292,
+                -0.08931603282690048,
+                0.4968717396259308,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13919635286410145,
+                -0.06989361718770101,
+                -0.012856701347792926,
+                0.10241683574406335,
+                0.12197314979566634,
+                -0.4709389036063696,
+                0.22536804033658397
+            ],
+            "target_pos": [
+                0.2132161408662796,
+                0.1472863107919693,
+                0.08363282680511475
+            ],
+            "target_quat_wxyz": [
+                0.9849218726158142,
+                0.013537602499127388,
+                -0.12898053228855133,
+                0.11449744552373886
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07097179408765306,
+                -0.1100708140531595,
+                0.23622442747561906,
+                -0.0972701294529911,
+                0.13104330734487793,
+                -0.07550844357972127,
+                0.4124913162708878
+            ],
+            "target_pos": [
+                0.22712703049182892,
+                -0.09626564383506775,
+                0.10347461700439453
+            ],
+            "target_quat_wxyz": [
+                0.9583358764648438,
+                0.007288370747119188,
+                -0.037936996668577194,
+                0.28301945328712463
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.39200000166893
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000205_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 206,
+    "colors": {
+        "color_0": "colors/000206_color_0.jpg",
+        "color_2": "colors/000206_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13319267332553864,
+                -0.058710720390081406,
+                -0.009467537514865398,
+                0.09250623732805252,
+                0.11564777046442032,
+                -0.46821698546409607,
+                0.225203737616539
+            ],
+            "ee_pos": [
+                0.21466995775699615,
+                0.15087342262268066,
+                0.08869180828332901
+            ],
+            "ee_quat_wxyz": [
+                0.9855300188064575,
+                0.014214124530553818,
+                -0.1258983165025711,
+                0.11259713768959045
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09193099290132523,
+                -0.1300288438796997,
+                0.25533589720726013,
+                -0.1173735037446022,
+                0.15343403816223145,
+                -0.08782040327787399,
+                0.4580543637275696
+            ],
+            "ee_pos": [
+                0.21456420421600342,
+                -0.09380418807268143,
+                0.10540366917848587
+            ],
+            "ee_quat_wxyz": [
+                0.9385991096496582,
+                0.01992165297269821,
+                -0.04534975811839104,
+                0.34143558144569397
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505315065383911,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.262481153011322,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280169486999512,
+                -0.07308565825223923,
+                0.19552168250083923,
+                0.504193902015686,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06101347506046295,
+                -0.0053670066408813,
+                -0.07393428683280945,
+                0.13318069279193878,
+                -0.058698736131191254,
+                -0.00953944306820631,
+                0.09262607991695404,
+                0.11565975844860077,
+                -0.46820929646492004,
+                0.2251807153224945,
+                0.08791627734899521,
+                -0.12630175054073334,
+                0.25243571400642395,
+                -0.11436545848846436,
+                0.14976686239242554,
+                -0.0864858403801918,
+                0.44832125306129456,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1389377053361564,
+                -0.07003300289054568,
+                -0.012932979397772841,
+                0.10286240662149038,
+                0.12201616802675234,
+                -0.47122609389928954,
+                0.22549074232560984
+            ],
+            "target_pos": [
+                0.21326525509357452,
+                0.14736245572566986,
+                0.08359217643737793
+            ],
+            "target_quat_wxyz": [
+                0.9848924875259399,
+                0.013311435468494892,
+                -0.12895745038986206,
+                0.11480236798524857
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.055588088130514746,
+                -0.09825972265220352,
+                0.22596561792929803,
+                -0.07815688947942914,
+                0.1035897690634722,
+                -0.06927213867467694,
+                0.36799718458610964
+            ],
+            "target_pos": [
+                0.23183883726596832,
+                -0.09756972640752792,
+                0.10148274898529053
+            ],
+            "target_quat_wxyz": [
+                0.9651632308959961,
+                -0.006540267262607813,
+                -0.03211485221982002,
+                0.25958773493766785
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3968888902664185
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000206_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 207,
+    "colors": {
+        "color_0": "colors/000207_color_0.jpg",
+        "color_2": "colors/000207_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13313275575637817,
+                -0.05872270464897156,
+                -0.009839048609137535,
+                0.09265004843473434,
+                0.11565975844860077,
+                -0.46823999285697937,
+                0.22515004873275757
+            ],
+            "ee_pos": [
+                0.21468649804592133,
+                0.15077358484268188,
+                0.08867882937192917
+            ],
+            "ee_quat_wxyz": [
+                0.9855581521987915,
+                0.014169534668326378,
+                -0.12587806582450867,
+                0.11237899959087372
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07564442604780197,
+                -0.11571967601776123,
+                0.24514931440353394,
+                -0.10288457572460175,
+                0.13168266415596008,
+                -0.08365564793348312,
+                0.41395241022109985
+            ],
+            "ee_pos": [
+                0.21977189183235168,
+                -0.09465360641479492,
+                0.10562524944543839
+            ],
+            "ee_quat_wxyz": [
+                0.947187602519989,
+                0.01432763785123825,
+                -0.04507242888212204,
+                0.31717315316200256
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505582094192505,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.262481153011322,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280571222305298,
+                -0.07309418171644211,
+                0.19546811282634735,
+                0.5042194724082947,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0611741803586483,
+                -0.005473580211400986,
+                -0.0739445686340332,
+                0.13313275575637817,
+                -0.058710720390081406,
+                -0.009898969903588295,
+                0.09276989102363586,
+                0.11563578993082047,
+                -0.46823999285697937,
+                0.22514237463474274,
+                0.07239670306444168,
+                -0.11307116597890854,
+                0.24294421076774597,
+                -0.10027201473712921,
+                0.12825517356395721,
+                -0.0824744775891304,
+                0.4077167809009552,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13887837362046815,
+                -0.07003983843469808,
+                -0.012794457496998974,
+                0.10303045183421966,
+                0.12234938005850018,
+                -0.4714866751952903,
+                0.225988381639523
+            ],
+            "target_pos": [
+                0.21318455040454865,
+                0.1474788933992386,
+                0.08362770080566406
+            ],
+            "target_quat_wxyz": [
+                0.9847965240478516,
+                0.01380165945738554,
+                -0.12914229929447174,
+                0.11535829305648804
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.039675814014000596,
+                -0.08910134050395227,
+                0.2171024617228503,
+                -0.05780126189231257,
+                0.07420202803601955,
+                -0.061795315048862653,
+                0.3240642956195313
+            ],
+            "target_pos": [
+                0.23646773397922516,
+                -0.09917125850915909,
+                0.09938633441925049
+            ],
+            "target_quat_wxyz": [
+                0.9710796475410461,
+                -0.020300287753343582,
+                -0.025947339832782745,
+                0.23647180199623108
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3964444458484646
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000207_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 208,
+    "colors": {
+        "color_0": "colors/000208_color_0.jpg",
+        "color_2": "colors/000208_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1330488622188568,
+                -0.058698736131191254,
+                -0.010270480997860432,
+                0.09285377711057663,
+                0.11567173898220062,
+                -0.46830135583877563,
+                0.22512702643871307
+            ],
+            "ee_pos": [
+                0.21470661461353302,
+                0.15066459774971008,
+                0.08866173774003983
+            ],
+            "ee_quat_wxyz": [
+                0.9855883717536926,
+                0.014131061732769012,
+                -0.1258619874715805,
+                0.1121368333697319
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05787182226777077,
+                -0.10245314240455627,
+                0.2319546788930893,
+                -0.08470450341701508,
+                0.10486196726560593,
+                -0.07852447777986526,
+                0.3688993752002716
+            ],
+            "ee_pos": [
+                0.2253466546535492,
+                -0.09637989848852158,
+                0.10523070394992828
+            ],
+            "ee_quat_wxyz": [
+                0.9557117819786072,
+                0.005708983633667231,
+                -0.043053992092609406,
+                0.291081964969635
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505180358886719,
+                -0.12745164334774017,
+                -0.0026382035575807095,
+                0.2624896764755249,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280571222305298,
+                -0.07309418171644211,
+                0.19548149406909943,
+                0.5042620897293091,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06070546433329582,
+                -0.005534479394555092,
+                -0.07389456778764725,
+                0.1330488622188568,
+                -0.058698736131191254,
+                -0.010270480997860432,
+                0.09285377711057663,
+                0.11567173898220062,
+                -0.46830135583877563,
+                0.22512702643871307,
+                0.05787182226777077,
+                -0.10245314240455627,
+                0.2319546788930893,
+                -0.08470450341701508,
+                0.10486196726560593,
+                -0.07852447777986526,
+                0.3688993752002716,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13907648631775887,
+                -0.06992642425196437,
+                -0.012453064183091726,
+                0.10272743552061371,
+                0.12252118620555516,
+                -0.47161484638715256,
+                0.22655131862155659
+            ],
+            "target_pos": [
+                0.21306045353412628,
+                0.14771749079227448,
+                0.08373725414276123
+            ],
+            "target_quat_wxyz": [
+                0.9847071766853333,
+                0.013929620385169983,
+                -0.1292610764503479,
+                0.11597119271755219
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.02261675346410159,
+                -0.08068056052784295,
+                0.2088487662579082,
+                -0.0368964607713231,
+                0.04126380942582506,
+                -0.048089559187300124,
+                0.2778289735786218
+            ],
+            "target_pos": [
+                0.24165095388889313,
+                -0.1006508469581604,
+                0.09694957733154297
+            ],
+            "target_quat_wxyz": [
+                0.9772394299507141,
+                -0.03683202341198921,
+                -0.012830007821321487,
+                0.20852318406105042
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3871111130714415
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000208_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 209,
+    "colors": {
+        "color_0": "colors/000209_color_0.jpg",
+        "color_2": "colors/000209_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1330488622188568,
+                -0.058710720390081406,
+                -0.010018812492489815,
+                0.09366870671510696,
+                0.11563578993082047,
+                -0.4682936668395996,
+                0.22519606351852417
+            ],
+            "ee_pos": [
+                0.21468941867351532,
+                0.15071697533130646,
+                0.0884748250246048
+            ],
+            "ee_quat_wxyz": [
+                0.9856253266334534,
+                0.014165731146931648,
+                -0.1254470944404602,
+                0.11227237433195114
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.040638506412506104,
+                -0.0941600576043129,
+                0.22367358207702637,
+                -0.06598514318466187,
+                0.07617173343896866,
+                -0.07001088559627533,
+                0.32580986618995667
+            ],
+            "ee_pos": [
+                0.2302846759557724,
+                -0.09777697175741196,
+                0.10402395576238632
+            ],
+            "ee_quat_wxyz": [
+                0.9625789523124695,
+                -0.005633459892123938,
+                -0.03809046000242233,
+                0.26825207471847534
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505448579788208,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.2624555826187134,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1280303001403809,
+                -0.07308565825223923,
+                0.19552168250083923,
+                0.5042194724082947,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06050458550453186,
+                -0.005435513332486153,
+                -0.07381915301084518,
+                0.1330488622188568,
+                -0.058710720390081406,
+                -0.010018812492489815,
+                0.09366870671510696,
+                0.11563578993082047,
+                -0.4682936668395996,
+                0.22519606351852417,
+                0.040638506412506104,
+                -0.0941600576043129,
+                0.22367358207702637,
+                -0.06598514318466187,
+                0.07617173343896866,
+                -0.07001088559627533,
+                0.32580986618995667,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.139283498655514,
+                -0.0698860303464727,
+                -0.011798743730525828,
+                0.10209260356270854,
+                0.12255768925074284,
+                -0.47151503793472493,
+                0.22725905091841472
+            ],
+            "target_pos": [
+                0.21303297579288483,
+                0.14800910651683807,
+                0.08390402793884277
+            ],
+            "target_quat_wxyz": [
+                0.9845774173736572,
+                0.013887511566281319,
+                -0.12930789589881897,
+                0.11702083051204681
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.005328875712999183,
+                -0.07363186740212055,
+                0.20245972343240132,
+                -0.014816219521918073,
+                0.003582610526556715,
+                -0.032305318431895984,
+                0.22848948093130803
+            ],
+            "target_pos": [
+                0.24618621170520782,
+                -0.10205720365047455,
+                0.09389722347259521
+            ],
+            "target_quat_wxyz": [
+                0.9818598031997681,
+                -0.05808846652507782,
+                -0.0020024783443659544,
+                0.1804802119731903
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3955555570125577
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000209_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 210,
+    "colors": {
+        "color_0": "colors/000210_color_0.jpg",
+        "color_2": "colors/000210_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1330728381872177,
+                -0.058698736131191254,
+                -0.009958891198039055,
+                0.09417204558849335,
+                0.11564777046442032,
+                -0.46830135583877563,
+                0.22517305612564087
+            ],
+            "ee_pos": [
+                0.2146756798028946,
+                0.15072640776634216,
+                0.0883571207523346
+            ],
+            "ee_quat_wxyz": [
+                0.9856573939323425,
+                0.014205454848706722,
+                -0.12519027292728424,
+                0.11227253824472427
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.022350579500198364,
+                -0.08601078391075134,
+                0.21569208800792694,
+                -0.04472512751817703,
+                0.04072239622473717,
+                -0.05678030103445053,
+                0.27762752771377563
+            ],
+            "ee_pos": [
+                0.2354203313589096,
+                -0.09935255348682404,
+                0.10205914080142975
+            ],
+            "ee_quat_wxyz": [
+                0.969337522983551,
+                -0.02037283219397068,
+                -0.030296804383397102,
+                0.2430058866739273
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0512278079986572,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2623959481716156,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280303001403809,
+                -0.07308565825223923,
+                0.1955350637435913,
+                0.5041853785514832,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0603037066757679,
+                -0.005663881078362465,
+                -0.07353896647691727,
+                0.1330728381872177,
+                -0.058698736131191254,
+                -0.009827064350247383,
+                0.09432783722877502,
+                0.11567173898220062,
+                -0.4682936668395996,
+                0.2252267450094223,
+                0.01780855841934681,
+                -0.08410529047250748,
+                0.2144816815853119,
+                -0.03916444629430771,
+                0.03263304382562637,
+                -0.05388107895851135,
+                0.2688378095626831,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1395253216120788,
+                -0.06984851362435912,
+                -0.010999965068956303,
+                0.10151363144571614,
+                0.12265032868015263,
+                -0.471426262309572,
+                0.2280773402891985
+            ],
+            "target_pos": [
+                0.21295686066150665,
+                0.14828310906887054,
+                0.08391940593719482
+            ],
+            "target_quat_wxyz": [
+                0.9844635725021362,
+                0.014090844430029392,
+                -0.1292971819639206,
+                0.11796265095472336
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.010141537475420433,
+                -0.06984031464020546,
+                0.19850319979340791,
+                0.0052723004628180015,
+                -0.032010193124994514,
+                -0.014488640999596682,
+                0.18612308550845968
+            ],
+            "target_pos": [
+                0.24893982708454132,
+                -0.10360202193260193,
+                0.091255784034729
+            ],
+            "target_quat_wxyz": [
+                0.9831063151359558,
+                -0.07528951019048691,
+                0.00921545084565878,
+                0.16657902300357819
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3955555570125577
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000210_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 211,
+    "colors": {
+        "color_0": "colors/000211_color_0.jpg",
+        "color_2": "colors/000211_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13308481872081757,
+                -0.058698736131191254,
+                -0.00971920695155859,
+                0.0944836288690567,
+                0.11568372696638107,
+                -0.46830135583877563,
+                0.2252267450094223
+            ],
+            "ee_pos": [
+                0.21466392278671265,
+                0.15078149735927582,
+                0.08828207105398178
+            ],
+            "ee_quat_wxyz": [
+                0.9856630563735962,
+                0.014261364936828613,
+                -0.12502571940422058,
+                0.1123991385102272
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0033076461404561996,
+                -0.07959922403097153,
+                0.21099427342414856,
+                -0.021535653620958328,
+                0.003415504237636924,
+                -0.04059680178761482,
+                0.23033489286899567
+            ],
+            "ee_pos": [
+                0.24033182859420776,
+                -0.10050702095031738,
+                0.09955840557813644
+            ],
+            "ee_quat_wxyz": [
+                0.9746800065040588,
+                -0.03708144649863243,
+                -0.020751304924488068,
+                0.21952949464321136
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0521384477615356,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.2623107135295868,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.128110647201538,
+                -0.07310270518064499,
+                0.1955350637435913,
+                0.5041342377662659,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.060250137001276016,
+                -0.005838960874825716,
+                -0.07333384454250336,
+                0.13308481872081757,
+                -0.058698736131191254,
+                -0.009683254174888134,
+                0.09454355388879776,
+                0.11567173898220062,
+                -0.46830135583877563,
+                0.22524207830429077,
+                0.0005632585962302983,
+                -0.07849667221307755,
+                0.21007148921489716,
+                -0.01738911122083664,
+                -0.001797633827663958,
+                -0.03797369450330734,
+                0.22406858205795288,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13973736250734686,
+                -0.06982913805094448,
+                -0.010230864789288105,
+                0.10109860195715749,
+                0.12290264699748357,
+                -0.4712292666686063,
+                0.22888476359130783
+            ],
+            "target_pos": [
+                0.2129022628068924,
+                0.1484544724225998,
+                0.08389854431152344
+            ],
+            "target_quat_wxyz": [
+                0.9844032526016235,
+                0.014485880732536316,
+                -0.1291070580482483,
+                0.11862462013959885
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.02232755514338291,
+                -0.07005202140080896,
+                0.1966201055146281,
+                0.02155448752528437,
+                -0.05895660010426195,
+                0.001329827721032563,
+                0.15767054702123673
+            ],
+            "target_pos": [
+                0.2503489851951599,
+                -0.10527371615171432,
+                0.08943593502044678
+            ],
+            "target_quat_wxyz": [
+                0.982635498046875,
+                -0.08460564911365509,
+                0.016858620569109917,
+                0.16427145898342133
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3942222237586974
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000211_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 212,
+    "colors": {
+        "color_0": "colors/000212_color_0.jpg",
+        "color_2": "colors/000212_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1330488622188568,
+                -0.05872270464897156,
+                -0.009743175469338894,
+                0.09461545944213867,
+                0.11568372696638107,
+                -0.4682936668395996,
+                0.22523440420627594
+            ],
+            "ee_pos": [
+                0.21467001736164093,
+                0.15076816082000732,
+                0.0882594883441925
+            ],
+            "ee_quat_wxyz": [
+                0.98567134141922,
+                0.014248838648200035,
+                -0.12497386336326599,
+                0.1123855710029602
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.010725881904363632,
+                -0.07586014270782471,
+                0.20720724761486053,
+                -0.0023129554465413094,
+                -0.02816293016076088,
+                -0.023408548906445503,
+                0.19172459840774536
+            ],
+            "ee_pos": [
+                0.2439635545015335,
+                -0.10194908082485199,
+                0.09679996967315674
+            ],
+            "ee_quat_wxyz": [
+                0.9783737659454346,
+                -0.05216933786869049,
+                -0.010533515363931656,
+                0.19988036155700684
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0530223846435547,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280437707901,
+                -0.07310270518064499,
+                0.1955886334180832,
+                0.5041086673736572,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06018317863345146,
+                -0.005869406275451183,
+                -0.0732136145234108,
+                0.1330488622188568,
+                -0.058710720390081406,
+                -0.00965928565710783,
+                0.09461545944213867,
+                0.11570769548416138,
+                -0.4682936668395996,
+                0.22523440420627594,
+                -0.012691294774413109,
+                -0.07538077980279922,
+                0.20665597915649414,
+                0.001282312092371285,
+                -0.03269296512007713,
+                -0.021168936043977737,
+                0.1868005245923996,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.13992223065172316,
+                -0.06984807372967056,
+                -0.009644916592032041,
+                0.10105021840331885,
+                0.12333572277707591,
+                -0.47106309423824166,
+                0.22969150561653728
+            ],
+            "target_pos": [
+                0.2128487378358841,
+                0.14852650463581085,
+                0.08376598358154297
+            ],
+            "target_quat_wxyz": [
+                0.9843747019767761,
+                0.014807864092290401,
+                -0.12882941961288452,
+                0.11912255734205246
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.031247406617076156,
+                -0.07157688331555605,
+                0.19586371063200342,
+                0.03434650346162843,
+                -0.08019057731629062,
+                0.013526176338049598,
+                0.13678631982471107
+            ],
+            "target_pos": [
+                0.2515507936477661,
+                -0.10656355321407318,
+                0.08792614936828613
+            ],
+            "target_quat_wxyz": [
+                0.9829040169715881,
+                -0.09391894191503525,
+                0.02169170416891575,
+                0.15687055885791779
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.397333334684372
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000212_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 213,
+    "colors": {
+        "color_0": "colors/000213_color_0.jpg",
+        "color_2": "colors/000213_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1330488622188568,
+                -0.058698736131191254,
+                -0.009395632892847061,
+                0.09460347145795822,
+                0.11570769548416138,
+                -0.46830135583877563,
+                0.22535713016986847
+            ],
+            "ee_pos": [
+                0.21466293931007385,
+                0.15086066722869873,
+                0.08825872838497162
+            ],
+            "ee_quat_wxyz": [
+                0.985645055770874,
+                0.01430724561214447,
+                -0.12497603893280029,
+                0.11260596662759781
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.021799305453896523,
+                -0.07445798814296722,
+                0.20407937467098236,
+                0.014968297444283962,
+                -0.052874401211738586,
+                -0.00806873943656683,
+                0.16273236274719238
+            ],
+            "ee_pos": [
+                0.2467222660779953,
+                -0.10350333899259567,
+                0.09400428831577301
+            ],
+            "ee_quat_wxyz": [
+                0.9806317687034607,
+                -0.06502120941877365,
+                -0.0007471888093277812,
+                0.1847512573003769
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0534241199493408,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.26224252581596375,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128137469291687,
+                -0.07309418171644211,
+                0.1955886334180832,
+                0.5040916204452515,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.0602099634706974,
+                -0.005861782934516668,
+                -0.07299790531396866,
+                0.1330488622188568,
+                -0.058698736131191254,
+                -0.009395632892847061,
+                0.09460347145795822,
+                0.11570769548416138,
+                -0.46830135583877563,
+                0.22535713016986847,
+                -0.021799305453896523,
+                -0.07445798814296722,
+                0.20407937467098236,
+                0.014968297444283962,
+                -0.052874401211738586,
+                -0.00806873943656683,
+                0.16273236274719238,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1420796974234188,
+                -0.06980345600321246,
+                -0.009382976684961502,
+                0.09937875062946444,
+                0.12358490195676886,
+                -0.47125024869377063,
+                0.22995567337593503
+            ],
+            "target_pos": [
+                0.21171899139881134,
+                0.1488722264766693,
+                0.08385331183671951
+            ],
+            "target_quat_wxyz": [
+                0.9843505024909973,
+                0.014984942972660065,
+                -0.12858815491199493,
+                0.11956021189689636
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0354150694153291,
+                -0.07326604141473668,
+                0.19640843512997008,
+                0.041088479637143974,
+                -0.09505683941859477,
+                0.0251224448285604,
+                0.12350045477826338
+            ],
+            "target_pos": [
+                0.2510479986667633,
+                -0.10714031010866165,
+                0.0867648795247078
+            ],
+            "target_quat_wxyz": [
+                0.9826949834823608,
+                -0.09904182702302933,
+                0.028531881049275398,
+                0.1539066731929779
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3924444460868832
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000213_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 214,
+    "colors": {
+        "color_0": "colors/000214_color_0.jpg",
+        "color_2": "colors/000214_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13312077522277832,
+                -0.05872270464897156,
+                -0.00926380604505539,
+                0.09460347145795822,
+                0.11570769548416138,
+                -0.4682936668395996,
+                0.22540314495563507
+            ],
+            "ee_pos": [
+                0.21464551985263824,
+                0.15089470148086548,
+                0.08824145793914795
+            ],
+            "ee_quat_wxyz": [
+                0.9856390953063965,
+                0.014315114356577396,
+                -0.12493347376585007,
+                0.1127043217420578
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.030727554112672806,
+                -0.0746377557516098,
+                0.20131102204322815,
+                0.027815386652946472,
+                -0.0742902159690857,
+                0.0064964089542627335,
+                0.14248381555080414
+            ],
+            "ee_pos": [
+                0.24886591732501984,
+                -0.10501597821712494,
+                0.09179381281137466
+            ],
+            "ee_quat_wxyz": [
+                0.9817543625831604,
+                -0.07695416361093521,
+                0.007624809630215168,
+                0.1737188994884491
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0538125038146973,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1284856796264648,
+                -0.07310270518064499,
+                0.19566898047924042,
+                0.5040661096572876,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06019657105207443,
+                -0.005899837240576744,
+                -0.07267184555530548,
+                0.13313275575637817,
+                -0.058698736131191254,
+                -0.009287774562835693,
+                0.09457950294017792,
+                0.11571967601776123,
+                -0.46830135583877563,
+                0.2253878116607666,
+                -0.031087080016732216,
+                -0.07460179924964905,
+                0.20110727846622467,
+                0.028294755145907402,
+                -0.0755365714430809,
+                0.007133011240512133,
+                0.14128731191158295,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14384936576332,
+                -0.06994627313881357,
+                -0.009446102035660393,
+                0.0977685236062184,
+                0.12403863919044805,
+                -0.47115752121121446,
+                0.23021708874044206
+            ],
+            "target_pos": [
+                0.21164287626743317,
+                0.14872294664382935,
+                0.08395940810441971
+            ],
+            "target_quat_wxyz": [
+                0.9843514561653137,
+                0.015165193937718868,
+                -0.1284477412700653,
+                0.11968054622411728
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03717328973740891,
+                -0.07544596797966764,
+                0.19645502519375918,
+                0.0431896416631179,
+                -0.10267221251885558,
+                0.03578288669789678,
+                0.11899427752142434
+            ],
+            "target_pos": [
+                0.2508561909198761,
+                -0.1081886813044548,
+                0.08654231578111649
+            ],
+            "target_quat_wxyz": [
+                0.9819750785827637,
+                -0.09943720698356628,
+                0.03354264050722122,
+                0.15720082819461823
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3977777791023254
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000214_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 215,
+    "colors": {
+        "color_0": "colors/000215_color_0.jpg",
+        "color_2": "colors/000215_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13331252336502075,
+                -0.05872270464897156,
+                -0.008688563480973244,
+                0.09459149092435837,
+                0.11567173898220062,
+                -0.46830135583877563,
+                0.22561024129390717
+            ],
+            "ee_pos": [
+                0.21459344029426575,
+                0.1510557383298874,
+                0.08819769322872162
+            ],
+            "ee_quat_wxyz": [
+                0.9856039881706238,
+                0.014371316879987717,
+                -0.12483451515436172,
+                0.1131134033203125
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.035784896463155746,
+                -0.07445798814296722,
+                0.19968116283416748,
+                0.029756831005215645,
+                -0.08447680622339249,
+                0.012271846644580364,
+                0.1314775049686432
+            ],
+            "ee_pos": [
+                0.2501104474067688,
+                -0.10568498820066452,
+                0.09206615388393402
+            ],
+            "ee_quat_wxyz": [
+                0.9823407530784607,
+                -0.08251684159040451,
+                0.008393806405365467,
+                0.1677115559577942
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7301823453116647
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0536383390426636,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1284856796264648,
+                -0.07311122864484787,
+                0.1956823766231537,
+                0.5040916204452515,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06000908464193344,
+                -0.0058617740869522095,
+                -0.07262661308050156,
+                0.13333648443222046,
+                -0.058710720390081406,
+                -0.008592689409852028,
+                0.09459149092435837,
+                0.11568372696638107,
+                -0.46828600764274597,
+                0.22565625607967377,
+                -0.03711514547467232,
+                -0.07437410205602646,
+                0.19969314336776733,
+                0.02978079952299595,
+                -0.08548347651958466,
+                0.013360973447561264,
+                0.13025031983852386,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14526457361465836,
+                -0.07011121826747506,
+                -0.00965092164380483,
+                0.09642601089576255,
+                0.1243583695462473,
+                -0.4711543348627736,
+                0.23020596504128663
+            ],
+            "target_pos": [
+                0.21151746809482574,
+                0.1486598551273346,
+                0.08400232344865799
+            ],
+            "target_quat_wxyz": [
+                0.9843704104423523,
+                0.015154461376369,
+                -0.12849506735801697,
+                0.11947474628686905
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03700713152868164,
+                -0.07810921694564507,
+                0.19666920820151296,
+                0.04186254162950663,
+                -0.10660440870138972,
+                0.04392206809826513,
+                0.11896511834731827
+            ],
+            "target_pos": [
+                0.2503800690174103,
+                -0.1089009940624237,
+                0.08666200190782547
+            ],
+            "target_quat_wxyz": [
+                0.9813315868377686,
+                -0.10106741636991501,
+                0.03522787243127823,
+                0.15978935360908508
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3977777791023254
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000215_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 216,
+    "colors": {
+        "color_0": "colors/000216_color_0.jpg",
+        "color_2": "colors/000216_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13333648443222046,
+                -0.05874667316675186,
+                -0.008652610704302788,
+                0.0944596603512764,
+                0.11570769548416138,
+                -0.46830135583877563,
+                0.2257329523563385
+            ],
+            "ee_pos": [
+                0.21458876132965088,
+                0.1510678380727768,
+                0.08822209388017654
+            ],
+            "ee_quat_wxyz": [
+                0.9855877161026001,
+                0.014370528049767017,
+                -0.12488866597414017,
+                0.11319547146558762
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04170510545372963,
+                -0.07500926405191422,
+                0.19896210730075836,
+                0.030128343030810356,
+                -0.09229052066802979,
+                0.020409615710377693,
+                0.12609322369098663
+            ],
+            "ee_pos": [
+                0.25139319896698,
+                -0.10597338527441025,
+                0.09263382107019424
+            ],
+            "ee_quat_wxyz": [
+                0.9824005961418152,
+                -0.08733411878347397,
+                0.00942589808255434,
+                0.16484221816062927
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0532097816467285,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1282044649124146,
+                -0.07310270518064499,
+                0.1956823766231537,
+                0.5041598081588745,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.05996890738606453,
+                -0.005991196725517511,
+                -0.07288279384374619,
+                0.13333648443222046,
+                -0.05874667316675186,
+                -0.008652610704302788,
+                0.0944596603512764,
+                0.11570769548416138,
+                -0.46830135583877563,
+                0.2257329523563385,
+                -0.04170510545372963,
+                -0.07500926405191422,
+                0.19896210730075836,
+                0.030128343030810356,
+                -0.09229052066802979,
+                0.020409615710377693,
+                0.12609322369098663,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14719479546229788,
+                -0.06992292144988439,
+                -0.009785811789753471,
+                0.09459572506857017,
+                0.12446937857513962,
+                -0.47126529999685196,
+                0.2298480357730327
+            ],
+            "target_pos": [
+                0.21088504791259766,
+                0.1489959955215454,
+                0.08408387750387192
+            ],
+            "target_quat_wxyz": [
+                0.9843795299530029,
+                0.015575149096548557,
+                -0.1284089982509613,
+                0.11943808197975159
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03428183815027144,
+                -0.08140975908780826,
+                0.1979013936156463,
+                0.03579326881656188,
+                -0.1072971256558509,
+                0.05171596178369123,
+                0.12398035574781086
+            ],
+            "target_pos": [
+                0.24886417388916016,
+                -0.10901068150997162,
+                0.08718820661306381
+            ],
+            "target_quat_wxyz": [
+                0.9803099036216736,
+                -0.10129456967115402,
+                0.03781264275312424,
+                0.16523359715938568
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3968888902664185
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000216_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 217,
+    "colors": {
+        "color_0": "colors/000217_color_0.jpg",
+        "color_2": "colors/000217_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13338442146778107,
+                -0.05873468890786171,
+                -0.00894023198634386,
+                0.09444767981767654,
+                0.11575563251972198,
+                -0.46830135583877563,
+                0.22570227086544037
+            ],
+            "ee_pos": [
+                0.21458403766155243,
+                0.15100036561489105,
+                0.08821897208690643
+            ],
+            "ee_quat_wxyz": [
+                0.9856063723564148,
+                0.014367109164595604,
+                -0.12488286942243576,
+                0.11303932219743729
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.043358925729990005,
+                -0.07635150104761124,
+                0.19833892583847046,
+                0.02912166714668274,
+                -0.09662880748510361,
+                0.02702874317765236,
+                0.1254872977733612
+            ],
+            "ee_pos": [
+                0.2517799735069275,
+                -0.10641954839229584,
+                0.09259629994630814
+            ],
+            "ee_quat_wxyz": [
+                0.9822432994842529,
+                -0.09038779884576797,
+                0.011404798366129398,
+                0.16400624811649323
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052526831626892,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2622510492801666,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1281508207321167,
+                -0.07308565825223923,
+                0.1956823766231537,
+                0.5042450428009033,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.05994212627410889,
+                -0.006036881823092699,
+                -0.07313377410173416,
+                0.13340839743614197,
+                -0.05873468890786171,
+                -0.00894023198634386,
+                0.09444767981767654,
+                0.11575563251972198,
+                -0.46830135583877563,
+                0.2257099449634552,
+                -0.0433349572122097,
+                -0.07650729268789291,
+                0.1983269453048706,
+                0.028965871781110764,
+                -0.09692841023206711,
+                0.027320198714733124,
+                0.12549497187137604,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14821458570848395,
+                -0.06978188681019006,
+                -0.009820785582414202,
+                0.09371916252290312,
+                0.12463382113470522,
+                -0.47126116756138403,
+                0.22980571906637887
+            ],
+            "target_pos": [
+                0.21088671684265137,
+                0.14901277422904968,
+                0.08400627225637436
+            ],
+            "target_quat_wxyz": [
+                0.984368085861206,
+                0.0157104954123497,
+                -0.12822440266609192,
+                0.1197129413485527
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.030872406901926844,
+                -0.08597196310929173,
+                0.19956857656059718,
+                0.02762638439496308,
+                -0.10533635993234261,
+                0.05850598634043504,
+                0.13375746833182972
+            ],
+            "target_pos": [
+                0.24773401021957397,
+                -0.10933784395456314,
+                0.08782454580068588
+            ],
+            "target_quat_wxyz": [
+                0.9788129925727844,
+                -0.10107728093862534,
+                0.0397648885846138,
+                0.17357197403907776
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3955555570125577
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000217_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 218,
+    "colors": {
+        "color_0": "colors/000218_color_0.jpg",
+        "color_2": "colors/000218_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13361212611198425,
+                -0.05873468890786171,
+                -0.008796420879662037,
+                0.09438775479793549,
+                0.11574364453554153,
+                -0.4682936668395996,
+                0.22574062645435333
+            ],
+            "ee_pos": [
+                0.21453458070755005,
+                0.15105155110359192,
+                0.08818281441926956
+            ],
+            "ee_quat_wxyz": [
+                0.9856031537055969,
+                0.014392005279660225,
+                -0.12479572743177414,
+                0.11316074430942535
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04278368502855301,
+                -0.07901199907064438,
+                0.1983748823404312,
+                0.025897910818457603,
+                -0.09865414351224899,
+                0.033341072499752045,
+                0.12761187553405762
+            ],
+            "ee_pos": [
+                0.2516784071922302,
+                -0.10694914311170578,
+                0.092501200735569
+            ],
+            "ee_quat_wxyz": [
+                0.9818994402885437,
+                -0.09270142018795013,
+                0.013475950807332993,
+                0.16461578011512756
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520045757293701,
+                -0.12742608785629272,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.128110647201538,
+                -0.07308565825223923,
+                0.1956823766231537,
+                0.5042620897293091,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06010282784700394,
+                -0.006006432231515646,
+                -0.07316379994153976,
+                0.13361212611198425,
+                -0.05873468890786171,
+                -0.008796420879662037,
+                0.09438775479793549,
+                0.11574364453554153,
+                -0.4682936668395996,
+                0.22574062645435333,
+                -0.04278368502855301,
+                -0.07901199907064438,
+                0.1983748823404312,
+                0.025897910818457603,
+                -0.09865414351224899,
+                0.033341072499752045,
+                0.12761187553405762,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14950508952319377,
+                -0.06932380074240614,
+                -0.009329116713298996,
+                0.09235733479685425,
+                0.12383723479808643,
+                -0.47090644592837627,
+                0.22925348481354704
+            ],
+            "target_pos": [
+                0.21053998172283173,
+                0.14964385330677032,
+                0.0841023325920105
+            ],
+            "target_quat_wxyz": [
+                0.9844024777412415,
+                0.015321845188736916,
+                -0.12766574323177338,
+                0.12007668614387512
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.024508032087238233,
+                -0.09324903000954886,
+                0.20372714103119793,
+                0.014477942262704317,
+                -0.10028796084481835,
+                0.06357379611126253,
+                0.15074151589921175
+            ],
+            "target_pos": [
+                0.2447987049818039,
+                -0.1090242862701416,
+                0.0892525315284729
+            ],
+            "target_quat_wxyz": [
+                0.9757885932922363,
+                -0.09995914250612259,
+                0.03950861096382141,
+                0.19048333168029785
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3853333353996273
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000218_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 219,
+    "colors": {
+        "color_0": "colors/000219_color_0.jpg",
+        "color_2": "colors/000219_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13379189372062683,
+                -0.05873468890786171,
+                -0.008868326433002949,
+                0.09425593167543411,
+                0.11580356955528259,
+                -0.4682936668395996,
+                0.22565625607967377
+            ],
+            "ee_pos": [
+                0.2145012617111206,
+                0.1510400027036667,
+                0.08817670494318008
+            ],
+            "ee_quat_wxyz": [
+                0.9856114387512207,
+                0.014424371533095837,
+                -0.12477954477071762,
+                0.11310204118490219
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.04122573509812355,
+                -0.0821758359670639,
+                0.19928568601608276,
+                0.02022937312722206,
+                -0.09829461574554443,
+                0.04032835736870766,
+                0.13522808253765106
+            ],
+            "ee_pos": [
+                0.2512681186199188,
+                -0.10713157057762146,
+                0.0926051214337349
+            ],
+            "ee_quat_wxyz": [
+                0.9811379313468933,
+                -0.09393054991960526,
+                0.015484935604035854,
+                0.1682429164648056
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051669716835022,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2623448073863983,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1280972957611084,
+                -0.07309418171644211,
+                0.1955886334180832,
+                0.5042791366577148,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06011622026562691,
+                -0.005937923211604357,
+                -0.07321878522634506,
+                0.13379189372062683,
+                -0.058710720390081406,
+                -0.008868326433002949,
+                0.09423196315765381,
+                0.11580356955528259,
+                -0.4682936668395996,
+                0.2256639301776886,
+                -0.041189782321453094,
+                -0.08229567110538483,
+                0.19941750168800354,
+                0.019965719431638718,
+                -0.09830659627914429,
+                0.04064282402396202,
+                0.13574963808059692,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1501219496342842,
+                -0.06904191516354949,
+                -0.008967126119170284,
+                0.0917129697944841,
+                0.12337400125399098,
+                -0.47046339204751175,
+                0.22897845614745582
+            ],
+            "target_pos": [
+                0.2106400579214096,
+                0.14957793056964874,
+                0.08402568101882935
+            ],
+            "target_quat_wxyz": [
+                0.984429657459259,
+                0.01545680407434702,
+                -0.12743721902370453,
+                0.12007956951856613
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.016470443731688416,
+                -0.1041463281639024,
+                0.2092478102597936,
+                -0.0013411850503149423,
+                -0.09206234525094195,
+                0.06637703165404613,
+                0.17557550413812256
+            ],
+            "target_pos": [
+                0.2418845146894455,
+                -0.10933569818735123,
+                0.0904887318611145
+            ],
+            "target_quat_wxyz": [
+                0.9716851115226746,
+                -0.0995449349284172,
+                0.03841666504740715,
+                0.21081505715847015
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                2.3293333387374875
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000219_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 220,
+    "colors": {
+        "color_0": "colors/000220_color_0.jpg",
+        "color_2": "colors/000220_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13400760293006897,
+                -0.058710720390081406,
+                -0.008808405138552189,
+                0.09407617151737213,
+                0.11576761305332184,
+                -0.46830135583877563,
+                0.22561024129390717
+            ],
+            "ee_pos": [
+                0.21445795893669128,
+                0.1510729193687439,
+                0.08817222714424133
+            ],
+            "ee_quat_wxyz": [
+                0.9856079816818237,
+                0.014438263140618801,
+                -0.12476655095815659,
+                0.11314479261636734
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03721101954579353,
+                -0.08834771066904068,
+                0.20147879421710968,
+                0.009395632892847061,
+                -0.09474728256464005,
+                0.04691680520772934,
+                0.15264643728733063
+            ],
+            "ee_pos": [
+                0.2501865327358246,
+                -0.10718841105699539,
+                0.09316587448120117
+            ],
+            "ee_quat_wxyz": [
+                0.9794877767562866,
+                -0.09467646479606628,
+                0.016681477427482605,
+                0.1770927608013153
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7298008697642473
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0515090227127075,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26237037777900696,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1281241178512573,
+                -0.07308565825223923,
+                0.19557523727416992,
+                0.5042450428009033,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06011622026562691,
+                -0.005915084388107061,
+                -0.0732538178563118,
+                0.13400760293006897,
+                -0.058710720390081406,
+                -0.008808405138552189,
+                0.09407617151737213,
+                0.11576761305332184,
+                -0.46830135583877563,
+                0.22561024129390717,
+                -0.03721101954579353,
+                -0.08834771066904068,
+                0.20147879421710968,
+                0.009395632892847061,
+                -0.09474728256464005,
+                0.04691680520772934,
+                0.15264643728733063,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15016777691791625,
+                -0.06891600060306483,
+                -0.008883818063224252,
+                0.09168638414033739,
+                0.12334697371488001,
+                -0.4700142858946157,
+                0.22886481435998063
+            ],
+            "target_pos": [
+                0.210744246840477,
+                0.14941968023777008,
+                0.08395367860794067
+            ],
+            "target_quat_wxyz": [
+                0.9844835996627808,
+                0.015749836340546608,
+                -0.12726430594921112,
+                0.11978205293416977
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.008334374315025189,
+                -0.11636197509888632,
+                0.21458379833829322,
+                -0.019455737324873608,
+                -0.08232719278365427,
+                0.0699274964231249,
+                0.20378704855238322
+            ],
+            "target_pos": [
+                0.23955915868282318,
+                -0.10952828079462051,
+                0.09239715337753296
+            ],
+            "target_quat_wxyz": [
+                0.9680554866790771,
+                -0.09879255294799805,
+                0.03832389414310455,
+                0.2272440493106842
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.5577777206897734
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000220_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 221,
+    "colors": {
+        "color_0": "colors/000221_color_0.jpg",
+        "color_2": "colors/000221_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1344270557165146,
+                -0.05872270464897156,
+                -0.008640626445412636,
+                0.09401624649763107,
+                0.11573166400194168,
+                -0.46828600764274597,
+                0.2256409227848053
+            ],
+            "ee_pos": [
+                0.21436810493469238,
+                0.15113982558250427,
+                0.08809534460306168
+            ],
+            "ee_quat_wxyz": [
+                0.9856126308441162,
+                0.014463919214904308,
+                -0.12458208203315735,
+                0.11330435425043106
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.03123089112341404,
+                -0.10009224712848663,
+                0.20684772729873657,
+                -0.004050668329000473,
+                -0.08771254122257233,
+                0.05152641609311104,
+                0.17704440653324127
+            ],
+            "ee_pos": [
+                0.24841345846652985,
+                -0.10728400200605392,
+                0.09375883638858795
+            ],
+            "ee_quat_wxyz": [
+                0.9767475724220276,
+                -0.09615087509155273,
+                0.017450399696826935,
+                0.19082628190517426
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.7294193942168299
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0515893697738647,
+                -0.12745164334774017,
+                -0.0026382035575807095,
+                0.26233628392219543,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1281508207321167,
+                -0.07310270518064499,
+                0.1955350637435913,
+                0.5041086673736572,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06015639379620552,
+                -0.0059226928278803825,
+                -0.07321874797344208,
+                0.1344270557165146,
+                -0.05872270464897156,
+                -0.008640626445412636,
+                0.09401624649763107,
+                0.11573166400194168,
+                -0.46828600764274597,
+                0.2256409227848053,
+                -0.03123089112341404,
+                -0.10009224712848663,
+                0.20684772729873657,
+                -0.004050668329000473,
+                -0.08771254122257233,
+                0.05152641609311104,
+                0.17704440653324127,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15051823304087233,
+                -0.06845706999605412,
+                -0.008732858551885691,
+                0.0912919996976167,
+                0.12284295406291773,
+                -0.4696658351457307,
+                0.22812579489371243
+            ],
+            "target_pos": [
+                0.2105453759431839,
+                0.1497671902179718,
+                0.08400425314903259
+            ],
+            "target_quat_wxyz": [
+                0.9845693111419678,
+                0.015674758702516556,
+                -0.12709926068782806,
+                0.11926177889108658
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0008106270883849851,
+                -0.12580760253601106,
+                0.2187548247663591,
+                -0.03912547220757154,
+                -0.07443300590836632,
+                0.07166585409548201,
+                0.2249229389526198
+            ],
+            "target_pos": [
+                0.2372579127550125,
+                -0.1093503087759018,
+                0.09468063712120056
+            ],
+            "target_quat_wxyz": [
+                0.9674928784370422,
+                -0.09771867096424103,
+                0.033223334699869156,
+                0.2308783382177353
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7097776627540588
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000221_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 222,
+    "colors": {
+        "color_0": "colors/000222_color_0.jpg",
+        "color_2": "colors/000222_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13473863899707794,
+                -0.0586867518723011,
+                -0.008496815338730812,
+                0.09396830946207047,
+                0.11574364453554153,
+                -0.4682936668395996,
+                0.22558721899986267
+            ],
+            "ee_pos": [
+                0.21430134773254395,
+                0.15119636058807373,
+                0.08804097771644592
+            ],
+            "ee_quat_wxyz": [
+                0.9856183528900146,
+                0.014528787694871426,
+                -0.12445852905511856,
+                0.11338189244270325
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.02395646646618843,
+                -0.11096194386482239,
+                0.21244436502456665,
+                -0.0207566786557436,
+                -0.0809534415602684,
+                0.05556078627705574,
+                0.19900333881378174
+            ],
+            "ee_pos": [
+                0.24638080596923828,
+                -0.10720373690128326,
+                0.09488874673843384
+            ],
+            "ee_quat_wxyz": [
+                0.9740935564041138,
+                -0.09716754406690598,
+                0.01680937595665455,
+                0.20351330935955048
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.6760128175783926
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051897406578064,
+                -0.12746016681194305,
+                -0.00258463597856462,
+                0.2623448073863983,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.128137469291687,
+                -0.07310270518064499,
+                0.1955886334180832,
+                0.5041171908378601,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06011622026562691,
+                -0.006006432231515646,
+                -0.07316379994153976,
+                0.1348225325345993,
+                -0.05867476761341095,
+                -0.008400942198932171,
+                0.09392037242650986,
+                0.11573166400194168,
+                -0.4682936668395996,
+                0.2256179004907608,
+                -0.023261381313204765,
+                -0.11198060214519501,
+                0.21299563348293304,
+                -0.02250637486577034,
+                -0.0803302600979805,
+                0.05568350479006767,
+                0.20154975354671478,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15060605081847367,
+                -0.06826643175991616,
+                -0.009049005660397546,
+                0.09124761308084821,
+                0.1228841577706116,
+                -0.4694077666985572,
+                0.22755604622456835
+            ],
+            "target_pos": [
+                0.2106166034936905,
+                0.14944452047348022,
+                0.08396729826927185
+            ],
+            "target_quat_wxyz": [
+                0.984663188457489,
+                0.015839219093322754,
+                -0.12697124481201172,
+                0.11859925836324692
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.009963242472826046,
+                -0.13363716482988824,
+                0.21988639257390666,
+                -0.058834130138396806,
+                -0.0640452754636637,
+                0.07167728612125496,
+                0.24295209520903244
+            ],
+            "target_pos": [
+                0.2352796345949173,
+                -0.11038842797279358,
+                0.09713408350944519
+            ],
+            "target_quat_wxyz": [
+                0.9665941596031189,
+                -0.09185754507780075,
+                0.027739787474274635,
+                0.23767288029193878
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000222_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 223,
+    "colors": {
+        "color_0": "colors/000223_color_0.jpg",
+        "color_2": "colors/000223_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13496634364128113,
+                -0.0586627833545208,
+                -0.008269115351140499,
+                0.09390839189291,
+                0.11573166400194168,
+                -0.4682936668395996,
+                0.22551819682121277
+            ],
+            "ee_pos": [
+                0.2142512947320938,
+                0.15126647055149078,
+                0.08800458908081055
+            ],
+            "ee_quat_wxyz": [
+                0.9856162071228027,
+                0.01458231545984745,
+                -0.12437281757593155,
+                0.11348741501569748
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.01587909832596779,
+                -0.1188475638628006,
+                0.21529661118984222,
+                -0.03719903528690338,
+                -0.07406251132488251,
+                0.05829894170165062,
+                0.21896043419837952
+            ],
+            "ee_pos": [
+                0.24433690309524536,
+                -0.10726621001958847,
+                0.0960826501250267
+            ],
+            "ee_quat_wxyz": [
+                0.971916913986206,
+                -0.09656473994255066,
+                0.01566881313920021,
+                0.2140263468027115
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.6062027924010067
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0522054433822632,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26229366660118103,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1281241178512573,
+                -0.07311122864484787,
+                0.19557523727416992,
+                0.5041512846946716,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.060089435428380966,
+                -0.0060140411369502544,
+                -0.0731186717748642,
+                0.13495436310768127,
+                -0.058698736131191254,
+                -0.008281099610030651,
+                0.09392037242650986,
+                0.11574364453554153,
+                -0.46828600764274597,
+                0.22551819682121277,
+                -0.014405039139091969,
+                -0.11997407674789429,
+                0.21569208800792694,
+                -0.03989548608660698,
+                -0.0725165456533432,
+                0.058291271328926086,
+                0.22161421179771423,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15128139127098625,
+                -0.0678203964668857,
+                -0.009319110188438036,
+                0.09042073798110797,
+                0.1226202873537293,
+                -0.4691717509376667,
+                0.22651399729371482
+            ],
+            "target_pos": [
+                0.2103213369846344,
+                0.14963971078395844,
+                0.08412094414234161
+            ],
+            "target_quat_wxyz": [
+                0.9847502708435059,
+                0.015986379235982895,
+                -0.12692293524742126,
+                0.11790640652179718
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.021680222202655298,
+                -0.141358092294992,
+                0.2162441873429537,
+                -0.08473343924863802,
+                -0.04656181635928349,
+                0.07142137559354693,
+                0.2628343300429495
+            ],
+            "target_pos": [
+                0.23201867938041687,
+                -0.11308782547712326,
+                0.10213227570056915
+            ],
+            "target_quat_wxyz": [
+                0.9654902815818787,
+                -0.079896479845047,
+                0.019884562119841576,
+                0.24708235263824463
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000223_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 224,
+    "colors": {
+        "color_0": "colors/000224_color_0.jpg",
+        "color_2": "colors/000224_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13506221771240234,
+                -0.058638814836740494,
+                -0.008712531998753548,
+                0.09378854930400848,
+                0.11580356955528259,
+                -0.46827834844589233,
+                0.22528043389320374
+            ],
+            "ee_pos": [
+                0.2142435759305954,
+                0.1511569321155548,
+                0.0880165547132492
+            ],
+            "ee_quat_wxyz": [
+                0.9856511354446411,
+                0.014589210040867329,
+                -0.12439458072185516,
+                0.11315900087356567
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.003571299137547612,
+                -0.12634968757629395,
+                0.21611154079437256,
+                -0.057728011161088943,
+                -0.06017279624938965,
+                0.061106126755476,
+                0.239676833152771
+            ],
+            "ee_pos": [
+                0.2415534257888794,
+                -0.1077754944562912,
+                0.09738385677337646
+            ],
+            "ee_quat_wxyz": [
+                0.970159649848938,
+                -0.09186079353094101,
+                0.0144990598782897,
+                0.22392328083515167
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.3570992599374385
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052419662475586,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1281241178512573,
+                -0.07311122864484787,
+                0.1955886334180832,
+                0.5041683316230774,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06011622026562691,
+                -0.005975979845970869,
+                -0.0731135681271553,
+                0.13506221771240234,
+                -0.058638814836740494,
+                -0.008712531998753548,
+                0.09378854930400848,
+                0.11580356955528259,
+                -0.46827834844589233,
+                0.22528043389320374,
+                -0.003571299137547612,
+                -0.12634968757629395,
+                0.21611154079437256,
+                -0.057728011161088943,
+                -0.06017279624938965,
+                0.061106126755476,
+                0.239676833152771,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15165741038682573,
+                -0.06767541638929925,
+                -0.009945794923772983,
+                0.089999134463954,
+                0.12240689831780797,
+                -0.4689545435381125,
+                0.22557408309193244
+            ],
+            "target_pos": [
+                0.2104165256023407,
+                0.14925004541873932,
+                0.08406241238117218
+            ],
+            "target_quat_wxyz": [
+                0.9848792552947998,
+                0.015659106895327568,
+                -0.12675559520721436,
+                0.11704976111650467
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.03227274259025704,
+                -0.14823138786098125,
+                0.21016015236126184,
+                -0.10798981017473608,
+                -0.02819586721528858,
+                0.07115757273867457,
+                0.2802992402641504
+            ],
+            "target_pos": [
+                0.23067906498908997,
+                -0.11518030613660812,
+                0.10440798103809357
+            ],
+            "target_quat_wxyz": [
+                0.9651500582695007,
+                -0.07382773607969284,
+                0.01584860309958458,
+                0.2505667507648468
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000224_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 225,
+    "colors": {
+        "color_0": "colors/000225_color_0.jpg",
+        "color_2": "colors/000225_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13518206775188446,
+                -0.05860286206007004,
+                -0.008736500516533852,
+                0.09357283264398575,
+                0.11570769548416138,
+                -0.46828600764274597,
+                0.22525742650032043
+            ],
+            "ee_pos": [
+                0.21422183513641357,
+                0.1511702835559845,
+                0.08804050832986832
+            ],
+            "ee_quat_wxyz": [
+                0.9856438636779785,
+                0.014560609124600887,
+                -0.12444531917572021,
+                0.1131703332066536
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.010018812492489815,
+                -0.1335522085428238,
+                0.216399148106575,
+                -0.07786151021718979,
+                -0.04577973857522011,
+                0.06330738961696625,
+                0.260009765625
+            ],
+            "ee_pos": [
+                0.23851965367794037,
+                -0.10839886218309402,
+                0.09843818098306656
+            ],
+            "ee_quat_wxyz": [
+                0.968407392501831,
+                -0.08666450530290604,
+                0.013683419674634933,
+                0.23342907428741455
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                1.097314412146181
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0525000095367432,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280972957611084,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042024254798889,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.060089435428380966,
+                -0.0058389464393258095,
+                -0.0729828029870987,
+                0.13526594638824463,
+                -0.05860286206007004,
+                -0.008676579222083092,
+                0.09346497058868408,
+                0.11569570749998093,
+                -0.4682706594467163,
+                0.22528809309005737,
+                0.012439625337719917,
+                -0.1347745954990387,
+                0.21644708514213562,
+                -0.08072574436664581,
+                -0.04351472109556198,
+                0.06328438222408295,
+                0.2631697654724121,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15184844024230637,
+                -0.06764101766183658,
+                -0.01040852593391062,
+                0.08978101586329704,
+                0.12232184633985471,
+                -0.4688104260289826,
+                0.2250504691564746
+            ],
+            "target_pos": [
+                0.2104165256023407,
+                0.14925004541873932,
+                0.08406241238117218
+            ],
+            "target_quat_wxyz": [
+                0.9848792552947998,
+                0.015659106895327568,
+                -0.12675559520721436,
+                0.11704976111650467
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.039118042007140474,
+                -0.15281114169988505,
+                0.20549656538233962,
+                -0.12343362560379448,
+                -0.015558225886180378,
+                0.07232118537979126,
+                0.29239778228786323
+            ],
+            "target_pos": [
+                0.23067906498908997,
+                -0.11518030613660812,
+                0.10440798103809357
+            ],
+            "target_quat_wxyz": [
+                0.9651500582695007,
+                -0.07382773607969284,
+                0.01584860309958458,
+                0.2505667507648468
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000225_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 226,
+    "colors": {
+        "color_0": "colors/000226_color_0.jpg",
+        "color_2": "colors/000226_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1354457139968872,
+                -0.058590877801179886,
+                -0.008556736633181572,
+                0.09346497058868408,
+                0.11569570749998093,
+                -0.46828600764274597,
+                0.2252497524023056
+            ],
+            "ee_pos": [
+                0.21416519582271576,
+                0.15123258531093597,
+                0.08800806850194931
+            ],
+            "ee_quat_wxyz": [
+                0.9856392741203308,
+                0.014599321410059929,
+                -0.12436757981777191,
+                0.11329080164432526
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.022302642464637756,
+                -0.14117416739463806,
+                0.215428426861763,
+                -0.0962572991847992,
+                -0.032764870673418045,
+                0.06496409326791763,
+                0.2762316167354584
+            ],
+            "ee_pos": [
+                0.23586639761924744,
+                -0.10949715971946716,
+                0.09953532367944717
+            ],
+            "ee_quat_wxyz": [
+                0.9670459032058716,
+                -0.08258088678121567,
+                0.01261324342340231,
+                0.24050672352313995
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.9908827344167239
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0524733066558838,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.26224252581596375,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1280972957611084,
+                -0.07310270518064499,
+                0.19569577276706696,
+                0.5042109489440918,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.0599822998046875,
+                -0.005663848016411066,
+                -0.0728670060634613,
+                0.13554158806800842,
+                -0.05860286206007004,
+                -0.008556736633181572,
+                0.09342902153730392,
+                0.11568372696638107,
+                -0.4682706594467163,
+                0.22525742650032043,
+                0.023932497948408127,
+                -0.14249244332313538,
+                0.21528461575508118,
+                -0.09908557683229446,
+                -0.030979221686720848,
+                0.06498710066080093,
+                0.27855557203292847,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15184539912905995,
+                -0.06789932035988759,
+                -0.011014526551907822,
+                0.0902714516829918,
+                0.12251668648285488,
+                -0.46894920457870176,
+                0.22484471125646177
+            ],
+            "target_pos": [
+                0.21046671271324158,
+                0.14884044229984283,
+                0.08380241692066193
+            ],
+            "target_quat_wxyz": [
+                0.9849538803100586,
+                0.015562132000923157,
+                -0.12658122181892395,
+                0.11662255227565765
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0482172722727821,
+                -0.1595245322695807,
+                0.1956757694139461,
+                -0.14255023506018527,
+                0.0036345867787633736,
+                0.07009264897166403,
+                0.3069835990073654
+            ],
+            "target_pos": [
+                0.2282293140888214,
+                -0.12031931430101395,
+                0.1091514378786087
+            ],
+            "target_quat_wxyz": [
+                0.9650825262069702,
+                -0.06230528652667999,
+                0.00461795786395669,
+                0.25438639521598816
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000226_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 227,
+    "colors": {
+        "color_0": "colors/000227_color_0.jpg",
+        "color_2": "colors/000227_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13579325377941132,
+                -0.05861484631896019,
+                -0.008808405138552189,
+                0.09339306503534317,
+                0.11574364453554153,
+                -0.46827834844589233,
+                0.22511936724185944
+            ],
+            "ee_pos": [
+                0.21409949660301208,
+                0.15118125081062317,
+                0.08795545250177383
+            ],
+            "ee_quat_wxyz": [
+                0.9856714010238647,
+                0.014608907513320446,
+                -0.12424179911613464,
+                0.11314805597066879
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.03423893079161644,
+                -0.14829280972480774,
+                0.21046696603298187,
+                -0.11604325473308563,
+                -0.015088140033185482,
+                0.06583845615386963,
+                0.2917554974555969
+            ],
+            "ee_pos": [
+                0.233498677611351,
+                -0.11131364852190018,
+                0.10136386007070541
+            ],
+            "ee_quat_wxyz": [
+                0.966293215751648,
+                -0.07619202882051468,
+                0.009935325011610985,
+                0.24571017920970917
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.8440146486610214
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.052352786064148,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2622510492801666,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280972957611084,
+                -0.07311122864484787,
+                0.1956823766231537,
+                0.5042876601219177,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.05999569222331047,
+                -0.005656239110976458,
+                -0.07290211319923401,
+                0.13587714731693268,
+                -0.05860286206007004,
+                -0.008844357915222645,
+                0.09334512799978256,
+                0.11568372696638107,
+                -0.46827834844589233,
+                0.22515004873275757,
+                0.03562910109758377,
+                -0.14903582632541656,
+                0.20985576510429382,
+                -0.11848803609609604,
+                -0.013218600302934647,
+                0.06579244136810303,
+                0.2934735417366028,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15119529064123227,
+                -0.06763527398718815,
+                -0.01102930365591727,
+                0.09060118859773732,
+                0.12194292663449313,
+                -0.4685408025573377,
+                0.22417377537231103
+            ],
+            "target_pos": [
+                0.21080870926380157,
+                0.1492556929588318,
+                0.08403993397951126
+            ],
+            "target_quat_wxyz": [
+                0.9850202798843384,
+                0.015322789549827576,
+                -0.12654371559619904,
+                0.1161334365606308
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05552573094709275,
+                -0.16611617837288548,
+                0.18639545907518204,
+                -0.15923201679190496,
+                0.021065849171455917,
+                0.06845598329310633,
+                0.31952431756592126
+            ],
+            "target_pos": [
+                0.22734315693378448,
+                -0.12240097671747208,
+                0.11159075051546097
+            ],
+            "target_quat_wxyz": [
+                0.9646808505058289,
+                -0.05825616419315338,
+                7.741224544588476e-05,
+                0.2568988800048828
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000227_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 228,
+    "colors": {
+        "color_0": "colors/000228_color_0.jpg",
+        "color_2": "colors/000228_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13609285652637482,
+                -0.05861484631896019,
+                -0.008688563480973244,
+                0.09338108450174332,
+                0.11563578993082047,
+                -0.46827834844589233,
+                0.22517305612564087
+            ],
+            "ee_pos": [
+                0.21403385698795319,
+                0.15123511850833893,
+                0.08789407461881638
+            ],
+            "ee_quat_wxyz": [
+                0.9856736660003662,
+                0.014591473154723644,
+                -0.12409704923629761,
+                0.11328930407762527
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.04284360632300377,
+                -0.1531224399805069,
+                0.20370785892009735,
+                -0.13296498358249664,
+                0.0007190534961409867,
+                0.06622962653636932,
+                0.30455654859542847
+            ],
+            "ee_pos": [
+                0.2319062054157257,
+                -0.11310839653015137,
+                0.10349871218204498
+            ],
+            "ee_quat_wxyz": [
+                0.965934693813324,
+                -0.07018480449914932,
+                0.006314097438007593,
+                0.24900677800178528
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7730601968413833
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0520447492599487,
+                -0.12745164334774017,
+                -0.0025980276986956596,
+                0.26224252581596375,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1280972957611084,
+                -0.07309418171644211,
+                0.19565559923648834,
+                0.504270613193512,
+                0.5073177218437195,
+                0.01134505495429039,
+                -0.06012961268424988,
+                -0.00572475278750062,
+                -0.0729474276304245,
+                0.13608087599277496,
+                -0.05862683057785034,
+                -0.008688563480973244,
+                0.09335711598396301,
+                0.11570769548416138,
+                -0.4682706594467163,
+                0.22508101165294647,
+                0.04406599700450897,
+                -0.15362578630447388,
+                0.20232968032360077,
+                -0.13560150563716888,
+                0.0029241510201245546,
+                0.06622962653636932,
+                0.3071489930152893,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15087931932611962,
+                -0.0676198787466625,
+                -0.011421946272561727,
+                0.0908800866482973,
+                0.1217566550046225,
+                -0.4684429584068329,
+                0.22365020767540833
+            ],
+            "target_pos": [
+                0.21073998510837555,
+                0.14882820844650269,
+                0.08396840840578079
+            ],
+            "target_quat_wxyz": [
+                0.9850919842720032,
+                0.015229572542011738,
+                -0.1266019344329834,
+                0.11547227948904037
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06267688475343353,
+                -0.1735808764799486,
+                0.17723369806999933,
+                -0.17489133426941317,
+                0.03640581758527329,
+                0.06678623318922638,
+                0.3313837314688911
+            ],
+            "target_pos": [
+                0.22613580524921417,
+                -0.12506859004497528,
+                0.11345542222261429
+            ],
+            "target_quat_wxyz": [
+                0.9642314314842224,
+                -0.05719723924994469,
+                -0.003499367507174611,
+                0.25879335403442383
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000228_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 229,
+    "colors": {
+        "color_0": "colors/000229_color_0.jpg",
+        "color_2": "colors/000229_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13608087599277496,
+                -0.05860286206007004,
+                -0.009108011610805988,
+                0.09335711598396301,
+                0.11571967601776123,
+                -0.4682706594467163,
+                0.2248815894126892
+            ],
+            "ee_pos": [
+                0.214047372341156,
+                0.1511184424161911,
+                0.08790721744298935
+            ],
+            "ee_quat_wxyz": [
+                0.985711395740509,
+                0.014599633403122425,
+                -0.12412553280591965,
+                0.11292818188667297
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05005810782313347,
+                -0.15748471021652222,
+                0.19298197329044342,
+                -0.1489998698234558,
+                0.01647830940783024,
+                0.06638301908969879,
+                0.3173806369304657
+            ],
+            "ee_pos": [
+                0.2307744175195694,
+                -0.1156725063920021,
+                0.10594605654478073
+            ],
+            "ee_quat_wxyz": [
+                0.9659387469291687,
+                -0.06443949043750763,
+                0.002021226566284895,
+                0.2506108582019806
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7570382238498521
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0518438816070557,
+                -0.12745164334774017,
+                -0.0026382035575807095,
+                0.2622680962085724,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281508207321167,
+                -0.07311122864484787,
+                0.19561542570590973,
+                0.5042535662651062,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06010282784700394,
+                -0.0056334068067371845,
+                -0.07299739867448807,
+                0.13609285652637482,
+                -0.05860286206007004,
+                -0.009167931973934174,
+                0.09332115948200226,
+                0.11571967601776123,
+                -0.46827834844589233,
+                0.2248585820198059,
+                0.050633352249860764,
+                -0.1579640656709671,
+                0.19214308261871338,
+                -0.15039004385471344,
+                0.01788046397268772,
+                0.06639835983514786,
+                0.31833937764167786,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15038607620086913,
+                -0.06718128254299652,
+                -0.011519501038358866,
+                0.09103955915105948,
+                0.12097033134071655,
+                -0.46809679261963455,
+                0.22260424194466708
+            ],
+            "target_pos": [
+                0.21092766523361206,
+                0.14909762144088745,
+                0.08403831720352173
+            ],
+            "target_quat_wxyz": [
+                0.9851959943771362,
+                0.015001310035586357,
+                -0.1264679878950119,
+                0.11475904285907745
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06962106741773,
+                -0.18082411258769687,
+                0.16894555728408261,
+                -0.19005321403521191,
+                0.047523193463372776,
+                0.06471200311732755,
+                0.34148008542156094
+            ],
+            "target_pos": [
+                0.2249375581741333,
+                -0.12698006629943848,
+                0.11551600694656372
+            ],
+            "target_quat_wxyz": [
+                0.963975727558136,
+                -0.058953408151865005,
+                -0.008229430764913559,
+                0.25924426317214966
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000229_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 230,
+    "colors": {
+        "color_0": "colors/000230_color_0.jpg",
+        "color_2": "colors/000230_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13614079356193542,
+                -0.05860286206007004,
+                -0.009131979197263718,
+                0.09333314746618271,
+                0.11567173898220062,
+                -0.46826300024986267,
+                0.22480489313602448
+            ],
+            "ee_pos": [
+                0.2140364646911621,
+                0.15111494064331055,
+                0.08789945393800735
+            ],
+            "ee_quat_wxyz": [
+                0.9857181906700134,
+                0.01458275131881237,
+                -0.12410304695367813,
+                0.11289570480585098
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.05525926128029823,
+                -0.16471119225025177,
+                0.18349047005176544,
+                -0.16334499418735504,
+                0.029984531924128532,
+                0.06627564132213593,
+                0.3278960883617401
+            ],
+            "ee_pos": [
+                0.22995005548000336,
+                -0.11844199150800705,
+                0.10837242752313614
+            ],
+            "ee_quat_wxyz": [
+                0.9657869338989258,
+                -0.06150830537080765,
+                -0.0022315415553748608,
+                0.2519272267818451
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7471198596169977
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0515893697738647,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2623192369937897,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281508207321167,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5042365193367004,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06012961268424988,
+                -0.005549670197069645,
+                -0.07315275073051453,
+                0.13612881302833557,
+                -0.058590877801179886,
+                -0.009131979197263718,
+                0.0932852104306221,
+                0.11570769548416138,
+                -0.46826300024986267,
+                0.2247435301542282,
+                0.056182049214839935,
+                -0.16613730788230896,
+                0.18201641738414764,
+                -0.16601747274398804,
+                0.03194994479417801,
+                0.06620661169290543,
+                0.32958346605300903,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15011263407771253,
+                -0.06725424917590893,
+                -0.012408031223007977,
+                0.09111205144379642,
+                0.12107704363094393,
+                -0.46775654691893387,
+                0.22190301616162805
+            ],
+            "target_pos": [
+                0.21096229553222656,
+                0.14830288290977478,
+                0.08402913808822632
+            ],
+            "target_quat_wxyz": [
+                0.9853380918502808,
+                0.015110076405107975,
+                -0.12635616958141327,
+                0.11364275962114334
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07683218434249603,
+                -0.1888720362506966,
+                0.1608845616012999,
+                -0.20379868718790187,
+                0.057100411660151854,
+                0.05993271046518174,
+                0.3513506386353564
+            ],
+            "target_pos": [
+                0.22318047285079956,
+                -0.13012975454330444,
+                0.11785811185836792
+            ],
+            "target_quat_wxyz": [
+                0.9632191061973572,
+                -0.05883559584617615,
+                -0.015922661870718002,
+                0.26171329617500305
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000230_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 231,
+    "colors": {
+        "color_0": "colors/000231_color_0.jpg",
+        "color_2": "colors/000231_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13614079356193542,
+                -0.05860286206007004,
+                -0.009251821786165237,
+                0.09332115948200226,
+                0.11567173898220062,
+                -0.4682706594467163,
+                0.22455178201198578
+            ],
+            "ee_pos": [
+                0.2140413224697113,
+                0.15107399225234985,
+                0.08790434151887894
+            ],
+            "ee_quat_wxyz": [
+                0.9857375621795654,
+                0.014582276344299316,
+                -0.12411448359489441,
+                0.11271373182535172
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.060927800834178925,
+                -0.17383117973804474,
+                0.1748378574848175,
+                -0.17880463600158691,
+                0.04078231751918793,
+                0.06572341173887253,
+                0.33782094717025757
+            ],
+            "ee_pos": [
+                0.22894790768623352,
+                -0.12130988389253616,
+                0.11091574281454086
+            ],
+            "ee_quat_wxyz": [
+                0.9654070138931274,
+                -0.06094006076455116,
+                -0.006758878473192453,
+                0.25343626737594604
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7467383840695803
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0514823198318481,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.2623533308506012,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281241178512573,
+                -0.07309418171644211,
+                0.1955886334180832,
+                0.5042450428009033,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06012961268424988,
+                -0.005564896389842033,
+                -0.07316280901432037,
+                0.13615278899669647,
+                -0.05860286206007004,
+                -0.00926380604505539,
+                0.0933091789484024,
+                0.11567173898220062,
+                -0.46825534105300903,
+                0.22454412281513214,
+                0.06191050633788109,
+                -0.17534120380878448,
+                0.17373532056808472,
+                -0.18100973963737488,
+                0.04223240911960602,
+                0.0655316635966301,
+                0.33935490250587463,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14978635749886243,
+                -0.06701997972401115,
+                -0.013380863440486408,
+                0.09137506523250988,
+                0.12178865412840371,
+                -0.46755690384138093,
+                0.2212000249027808
+            ],
+            "target_pos": [
+                0.2111031860113144,
+                0.14815835654735565,
+                0.08403614163398743
+            ],
+            "target_quat_wxyz": [
+                0.985447347164154,
+                0.016122106462717056,
+                -0.12647639214992523,
+                0.11241587996482849
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08490268117969876,
+                -0.19716784465585208,
+                0.15186809538131965,
+                -0.21748234857627563,
+                0.068399245855337,
+                0.05120679904433018,
+                0.3621491871702957
+            ],
+            "target_pos": [
+                0.2213721126317978,
+                -0.13315269351005554,
+                0.1205531656742096
+            ],
+            "target_quat_wxyz": [
+                0.962395966053009,
+                -0.056545257568359375,
+                -0.026058254763484,
+                0.26441943645477295
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000231_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 232,
+    "colors": {
+        "color_0": "colors/000232_color_0.jpg",
+        "color_2": "colors/000232_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13608087599277496,
+                -0.058590877801179886,
+                -0.009635317139327526,
+                0.09332115948200226,
+                0.11570769548416138,
+                -0.46826300024986267,
+                0.22427567839622498
+            ],
+            "ee_pos": [
+                0.21406354010105133,
+                0.1509656012058258,
+                0.0879211276769638
+            ],
+            "ee_quat_wxyz": [
+                0.9857714772224426,
+                0.014569082297384739,
+                -0.12415081262588501,
+                0.1123785749077797
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06768690049648285,
+                -0.18309499323368073,
+                0.1670001745223999,
+                -0.19319769740104675,
+                0.051184624433517456,
+                0.06386729329824448,
+                0.34754636883735657
+            ],
+            "ee_pos": [
+                0.22767306864261627,
+                -0.12405053526163101,
+                0.11309745162725449
+            ],
+            "ee_quat_wxyz": [
+                0.9649181365966797,
+                -0.0606096088886261,
+                -0.01087663322687149,
+                0.2552277147769928
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7467383840695803
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0514956712722778,
+                -0.12742608785629272,
+                -0.002624811604619026,
+                0.2623448073863983,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280839443206787,
+                -0.07309418171644211,
+                0.19557523727416992,
+                0.5042450428009033,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06011622026562691,
+                -0.005610573571175337,
+                -0.07319299131631851,
+                0.13610485196113586,
+                -0.05860286206007004,
+                -0.009743175469338894,
+                0.0933091789484024,
+                0.11574364453554153,
+                -0.4682706594467163,
+                0.224099263548851,
+                0.06997589021921158,
+                -0.18498849868774414,
+                0.16516658663749695,
+                -0.19607390463352203,
+                0.05355750396847725,
+                0.06195748597383499,
+                0.3499240577220917,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14961748128784438,
+                -0.0658459428990625,
+                -0.013266669287776704,
+                0.09188359065393045,
+                0.12153669584265787,
+                -0.46781973339422517,
+                0.22003745154912913
+            ],
+            "target_pos": [
+                0.2110101580619812,
+                0.1490531861782074,
+                0.08382797241210938
+            ],
+            "target_quat_wxyz": [
+                0.9854558706283569,
+                0.016604790464043617,
+                -0.12655851244926453,
+                0.11217798292636871
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09415396661388317,
+                -0.2045878743361481,
+                0.14212228991182257,
+                -0.2310927302689174,
+                0.08279288639971376,
+                0.0390806918079616,
+                0.37380027189155207
+            ],
+            "target_pos": [
+                0.21918094158172607,
+                -0.13592934608459473,
+                0.12313449382781982
+            ],
+            "target_quat_wxyz": [
+                0.9615913033485413,
+                -0.05147113278508186,
+                -0.03693687915802002,
+                0.26707395911216736
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000232_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 233,
+    "colors": {
+        "color_0": "colors/000233_color_0.jpg",
+        "color_2": "colors/000233_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13609285652637482,
+                -0.05849500373005867,
+                -0.009970875456929207,
+                0.09334512799978256,
+                0.11571967601776123,
+                -0.4682706594467163,
+                0.22363907098770142
+            ],
+            "ee_pos": [
+                0.21407254040241241,
+                0.15087036788463593,
+                0.08791851252317429
+            ],
+            "ee_quat_wxyz": [
+                0.9858267903327942,
+                0.01461877766996622,
+                -0.12414669990539551,
+                0.11189035326242447
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.07848469167947769,
+                -0.19070497155189514,
+                0.15604659914970398,
+                -0.2069675624370575,
+                0.06419949233531952,
+                0.05537670850753784,
+                0.3598412275314331
+            ],
+            "ee_pos": [
+                0.225716233253479,
+                -0.12728539109230042,
+                0.11509858071804047
+            ],
+            "ee_quat_wxyz": [
+                0.9645975232124329,
+                -0.0583677738904953,
+                -0.01655486412346363,
+                0.25665295124053955
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7467383840695803
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0515893697738647,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.26232776045799255,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128110647201538,
+                -0.07311975210905075,
+                0.19556185603141785,
+                0.5042450428009033,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.060076043009757996,
+                -0.005595347844064236,
+                -0.07318293303251266,
+                0.13610485196113586,
+                -0.05850698798894882,
+                -0.009970875456929207,
+                0.0933091789484024,
+                0.11570769548416138,
+                -0.4682706594467163,
+                0.22360071539878845,
+                0.08011454343795776,
+                -0.19150792062282562,
+                0.15454857051372528,
+                -0.2089090198278427,
+                0.06600911170244217,
+                0.05452534928917885,
+                0.36153629422187805,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.14956514234900134,
+                -0.06507669993379145,
+                -0.013069095866221622,
+                0.09151958670225908,
+                0.12146115168877814,
+                -0.4673836814203127,
+                0.2193370963493464
+            ],
+            "target_pos": [
+                0.2110632061958313,
+                0.14906218647956848,
+                0.08414002507925034
+            ],
+            "target_quat_wxyz": [
+                0.9854648113250732,
+                0.016728326678276062,
+                -0.1263173520565033,
+                0.11235309392213821
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10435137276737856,
+                -0.21212079201413886,
+                0.12969769988733626,
+                -0.24443971575686718,
+                0.10215120779448081,
+                0.024644739399679077,
+                0.3888513973894522
+            ],
+            "target_pos": [
+                0.21693956851959229,
+                -0.14002862572669983,
+                0.12606437504291534
+            ],
+            "target_quat_wxyz": [
+                0.9602963924407959,
+                -0.04490279033780098,
+                -0.04781492426991463,
+                0.2711610198020935
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000233_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 234,
+    "colors": {
+        "color_0": "colors/000234_color_0.jpg",
+        "color_2": "colors/000234_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13614079356193542,
+                -0.058399129658937454,
+                -0.00980309583246708,
+                0.09332115948200226,
+                0.11564777046442032,
+                -0.468247652053833,
+                0.22346265614032745
+            ],
+            "ee_pos": [
+                0.21406184136867523,
+                0.15092480182647705,
+                0.08790940046310425
+            ],
+            "ee_quat_wxyz": [
+                0.9858294725418091,
+                0.014667613431811333,
+                -0.12411841750144958,
+                0.11189143359661102
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08917462080717087,
+                -0.19782359898090363,
+                0.14337927103042603,
+                -0.2211928516626358,
+                0.08348211646080017,
+                0.044094279408454895,
+                0.37427598237991333
+            ],
+            "ee_pos": [
+                0.223719984292984,
+                -0.13062363862991333,
+                0.11771561950445175
+            ],
+            "ee_quat_wxyz": [
+                0.9641666412353516,
+                -0.05339905619621277,
+                -0.02442757971584797,
+                0.25871706008911133
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7467383840695803
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0518840551376343,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26228514313697815,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280839443206787,
+                -0.07311122864484787,
+                0.19561542570590973,
+                0.5042365193367004,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06015639379620552,
+                -0.005412638653069735,
+                -0.07306212931871414,
+                0.13614079356193542,
+                -0.058399129658937454,
+                -0.00980309583246708,
+                0.09332115948200226,
+                0.11564777046442032,
+                -0.468247652053833,
+                0.22346265614032745,
+                0.08917462080717087,
+                -0.19782359898090363,
+                0.14337927103042603,
+                -0.2211928516626358,
+                0.08348211646080017,
+                0.044094279408454895,
+                0.37427598237991333,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.15024652366004226,
+                -0.0642826638394483,
+                -0.01277539914931786,
+                0.09003210574885229,
+                0.12199399544709841,
+                -0.46665807245818414,
+                0.2190506106476504
+            ],
+            "target_pos": [
+                0.21071137487888336,
+                0.14923825860023499,
+                0.08444234728813171
+            ],
+            "target_quat_wxyz": [
+                0.9854267239570618,
+                0.018060727044939995,
+                -0.1262645274400711,
+                0.11253990978002548
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.11552201159400519,
+                -0.21989848637466547,
+                0.11595860514200665,
+                -0.2571492059258275,
+                0.12426794031150981,
+                0.00886939871591619,
+                0.40609927542234386
+            ],
+            "target_pos": [
+                0.21435178816318512,
+                -0.14401936531066895,
+                0.12858447432518005
+            ],
+            "target_quat_wxyz": [
+                0.9587604403495789,
+                -0.039451539516448975,
+                -0.057971563190221786,
+                0.2754291892051697
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000234_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 235,
+    "colors": {
+        "color_0": "colors/000235_color_0.jpg",
+        "color_2": "colors/000235_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1362246870994568,
+                -0.05830325558781624,
+                -0.009827064350247383,
+                0.0933091789484024,
+                0.11579158157110214,
+                -0.4682246446609497,
+                0.22322489321231842
+            ],
+            "ee_pos": [
+                0.21404781937599182,
+                0.15092287957668304,
+                0.08789441734552383
+            ],
+            "ee_quat_wxyz": [
+                0.9858494997024536,
+                0.014799635857343674,
+                -0.12408221513032913,
+                0.11173789203166962
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.09873802959918976,
+                -0.20597288012504578,
+                0.132905051112175,
+                -0.23394405841827393,
+                0.10271679610013962,
+                0.03245903551578522,
+                0.3882812261581421
+            ],
+            "ee_pos": [
+                0.22178447246551514,
+                -0.1335756927728653,
+                0.12022704631090164
+            ],
+            "ee_quat_wxyz": [
+                0.9633452892303467,
+                -0.049146171659231186,
+                -0.03218452259898186,
+                0.261753112077713
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7463569085221629
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0519510507583618,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.2622680962085724,
+                0.5249996185302734,
+                0.009706055745482445,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.19565559923648834,
+                0.5042876601219177,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06014300510287285,
+                -0.005283223930746317,
+                -0.07302671670913696,
+                0.1362486630678177,
+                -0.05830325558781624,
+                -0.009827064350247383,
+                0.0932612419128418,
+                0.11580356955528259,
+                -0.46823233366012573,
+                0.22314052283763885,
+                0.09986454993486404,
+                -0.2072911411523819,
+                0.1314309984445572,
+                -0.23545406758785248,
+                0.1049937978386879,
+                0.03040350042283535,
+                0.3899839520454407,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1519599955921105,
+                -0.06372751487751457,
+                -0.012713207512570286,
+                0.0871689087585317,
+                0.12323186481352938,
+                -0.4653843885895314,
+                0.2191765680254783
+            ],
+            "target_pos": [
+                0.21013163030147552,
+                0.14938391745090485,
+                0.0847974419593811
+            ],
+            "target_quat_wxyz": [
+                0.9854289889335632,
+                0.0194548387080431,
+                -0.12576256692409515,
+                0.11284967511892319
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12704800915509318,
+                -0.22817779138043667,
+                0.10199464560690581,
+                -0.2689987501954718,
+                0.14544932012273754,
+                -0.006756722950052141,
+                0.4221656081309955
+            ],
+            "target_pos": [
+                0.2119693011045456,
+                -0.14789901673793793,
+                0.1308034062385559
+            ],
+            "target_quat_wxyz": [
+                0.9579631686210632,
+                -0.03737593814730644,
+                -0.06639662384986877,
+                0.2765882611274719
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000235_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 236,
+    "colors": {
+        "color_0": "colors/000236_color_0.jpg",
+        "color_2": "colors/000236_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13626064360141754,
+                -0.058219365775585175,
+                -0.010090718045830727,
+                0.09316536784172058,
+                0.1158275380730629,
+                -0.46819397807121277,
+                0.22279538214206696
+            ],
+            "ee_pos": [
+                0.2140519618988037,
+                0.15085573494434357,
+                0.08792020380496979
+            ],
+            "ee_quat_wxyz": [
+                0.9858816862106323,
+                0.014849025756120682,
+                -0.124130479991436,
+                0.11139307916164398
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10897255688905716,
+                -0.21403826773166656,
+                0.12105266004800797,
+                -0.24607209861278534,
+                0.1230660080909729,
+                0.01714223623275757,
+                0.404349684715271
+            ],
+            "ee_pos": [
+                0.21966776251792908,
+                -0.1367562860250473,
+                0.12292427569627762
+            ],
+            "ee_quat_wxyz": [
+                0.9622730612754822,
+                -0.044883858412504196,
+                -0.04141309857368469,
+                0.26514333486557007
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7410162508583191
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051897406578064,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5250059962272644,
+                0.009692373685538769,
+                -1.1280972957611084,
+                -0.07310270518064499,
+                0.19560202956199646,
+                0.5042876601219177,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06018317863345146,
+                -0.00515381246805191,
+                -0.0732019916176796,
+                0.13626064360141754,
+                -0.058219365775585175,
+                -0.010090718045830727,
+                0.09316536784172058,
+                0.1158275380730629,
+                -0.46819397807121277,
+                0.22279538214206696,
+                0.10897255688905716,
+                -0.21403826773166656,
+                0.12105266004800797,
+                -0.24607209861278534,
+                0.1230660080909729,
+                0.01714223623275757,
+                0.404349684715271,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1549187521429995,
+                -0.0626536337754241,
+                -0.01237583538609785,
+                0.08359159879936218,
+                0.12414566589325393,
+                -0.464309657092953,
+                0.21885399532591657
+            ],
+            "target_pos": [
+                0.20918309688568115,
+                0.15028011798858643,
+                0.08483026921749115
+            ],
+            "target_quat_wxyz": [
+                0.9854646921157837,
+                0.020775772631168365,
+                -0.12510621547698975,
+                0.1130317747592926
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.13874164008408071,
+                -0.23570068380791342,
+                0.0887720178895362,
+                -0.27962210355844386,
+                0.16484168357595194,
+                -0.02087121997872659,
+                0.4361398839917347
+            ],
+            "target_pos": [
+                0.20961833000183105,
+                -0.15107588469982147,
+                0.13239739835262299
+            ],
+            "target_quat_wxyz": [
+                0.9576207399368286,
+                -0.03422096371650696,
+                -0.07231507450342178,
+                0.2766983211040497
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000236_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 237,
+    "colors": {
+        "color_0": "colors/000237_color_0.jpg",
+        "color_2": "colors/000237_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1369677037000656,
+                -0.058099523186683655,
+                -0.010090718045830727,
+                0.09164337068796158,
+                0.11594738066196442,
+                -0.4681786298751831,
+                0.22205139696598053
+            ],
+            "ee_pos": [
+                0.21393612027168274,
+                0.15089672803878784,
+                0.08811572194099426
+            ],
+            "ee_quat_wxyz": [
+                0.985856831073761,
+                0.015007038600742817,
+                -0.12454172968864441,
+                0.11113253235816956
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12177171558141708,
+                -0.2217680811882019,
+                0.10567689687013626,
+                -0.25955435633659363,
+                0.14582405984401703,
+                -0.00017640780424699187,
+                0.42083999514579773
+            ],
+            "ee_pos": [
+                0.21712768077850342,
+                -0.14074422419071198,
+                0.1258482187986374
+            ],
+            "ee_quat_wxyz": [
+                0.9614824652671814,
+                -0.03998149558901787,
+                -0.05171029642224312,
+                0.2669813334941864
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0518170595169067,
+                -0.1274346113204956,
+                -0.0025980276986956596,
+                0.2622510492801666,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280839443206787,
+                -0.07311975210905075,
+                0.19561542570590973,
+                0.5042961835861206,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06015639379620552,
+                -0.005009176675230265,
+                -0.07326682657003403,
+                0.1369677037000656,
+                -0.058099523186683655,
+                -0.010090718045830727,
+                0.09164337068796158,
+                0.11594738066196442,
+                -0.4681786298751831,
+                0.22205139696598053,
+                0.12177171558141708,
+                -0.2217680811882019,
+                0.10567689687013626,
+                -0.25955435633659363,
+                0.14582405984401703,
+                -0.00017640780424699187,
+                0.42083999514579773,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1587979569409497,
+                -0.061596206372296534,
+                -0.012117831851968458,
+                0.07947741338717315,
+                0.12541355623265998,
+                -0.46312002773439276,
+                0.21851042590078362
+            ],
+            "target_pos": [
+                0.20825128257274628,
+                0.1506301611661911,
+                0.08491877466440201
+            ],
+            "target_quat_wxyz": [
+                0.9855135083198547,
+                0.022379759699106216,
+                -0.12415168434381485,
+                0.11335204541683197
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14999994903714153,
+                -0.24162183407227536,
+                0.07490688274026672,
+                -0.289022933088771,
+                0.18431348591385785,
+                -0.03363873886104399,
+                0.44810020443080556
+            ],
+            "target_pos": [
+                0.20765988528728485,
+                -0.1548464298248291,
+                0.13431158661842346
+            ],
+            "target_quat_wxyz": [
+                0.957779049873352,
+                -0.028624003753066063,
+                -0.07916034013032913,
+                0.2749065160751343
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000237_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 238,
+    "colors": {
+        "color_0": "colors/000238_color_0.jpg",
+        "color_2": "colors/000238_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.13842979073524475,
+                -0.05801563337445259,
+                -0.009695238433778286,
+                0.0908404290676117,
+                0.11588745564222336,
+                -0.46812495589256287,
+                0.22198237478733063
+            ],
+            "ee_pos": [
+                0.21363694965839386,
+                0.1511022299528122,
+                0.0879850760102272
+            ],
+            "ee_quat_wxyz": [
+                0.9858554005622864,
+                0.015153251588344574,
+                -0.12420368194580078,
+                0.11150334775447845
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1308078169822693,
+                -0.22948592901229858,
+                0.09299758821725845,
+                -0.2689020335674286,
+                0.1636326164007187,
+                -0.011880681850016117,
+                0.4329584240913391
+            ],
+            "ee_pos": [
+                0.2153354436159134,
+                -0.14425167441368103,
+                0.12798713147640228
+            ],
+            "ee_quat_wxyz": [
+                0.9609383940696716,
+                -0.03719693049788475,
+                -0.058691952377557755,
+                0.2678975462913513
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0516430139541626,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.525005578994751,
+                0.009698995389044285,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.19561542570590973,
+                0.5043047070503235,
+                0.5073354244232178,
+                0.011330882087349892,
+                -0.06015639379620552,
+                -0.004628555383533239,
+                -0.07354667037725449,
+                0.13842979073524475,
+                -0.05801563337445259,
+                -0.009695238433778286,
+                0.0908404290676117,
+                0.11588745564222336,
+                -0.46812495589256287,
+                0.22198237478733063,
+                0.1308078169822693,
+                -0.22948592901229858,
+                0.09299758821725845,
+                -0.2689020335674286,
+                0.1636326164007187,
+                -0.011880681850016117,
+                0.4329584240913391,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.16382796264186714,
+                -0.06052508344037242,
+                -0.012099006462245227,
+                0.07469396701665418,
+                0.1270568095778162,
+                -0.4617559889311393,
+                0.2181321693068871
+            ],
+            "target_pos": [
+                0.20695123076438904,
+                0.15101249516010284,
+                0.08493904769420624
+            ],
+            "target_quat_wxyz": [
+                0.9856194853782654,
+                0.024402659386396408,
+                -0.12276072055101395,
+                0.11352770775556564
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16017416328516365,
+                -0.24555346828446578,
+                0.060510377177936704,
+                -0.2978222714055889,
+                0.20464070223727812,
+                -0.04250023912022999,
+                0.4571445410944105
+            ],
+            "target_pos": [
+                0.20609232783317566,
+                -0.15840062499046326,
+                0.13616089522838593
+            ],
+            "target_quat_wxyz": [
+                0.9586724638938904,
+                -0.02084975875914097,
+                -0.08352780342102051,
+                0.2711743116378784
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000238_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 239,
+    "colors": {
+        "color_0": "colors/000239_color_0.jpg",
+        "color_2": "colors/000239_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.14202505350112915,
+                -0.05790777504444122,
+                -0.009898969903588295,
+                0.08723317831754684,
+                0.11657056212425232,
+                -0.4680559039115906,
+                0.2214454710483551
+            ],
+            "ee_pos": [
+                0.21295207738876343,
+                0.15127550065517426,
+                0.08805861324071884
+            ],
+            "ee_quat_wxyz": [
+                0.9858281016349792,
+                0.015666743740439415,
+                -0.12427495419979095,
+                0.11159390956163406
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14007163047790527,
+                -0.23503462970256805,
+                0.07874834537506104,
+                -0.2782018184661865,
+                0.18283134698867798,
+                -0.02346990816295147,
+                0.4447394013404846
+            ],
+            "ee_pos": [
+                0.2135300487279892,
+                -0.14783793687820435,
+                0.13022853434085846
+            ],
+            "ee_quat_wxyz": [
+                0.9606395363807678,
+                -0.033136188983917236,
+                -0.06617531925439835,
+                0.26775825023651123
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0514421463012695,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2623107135295868,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.128110647201538,
+                -0.07311122864484787,
+                0.19561542570590973,
+                0.5043558478355408,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.06016978621482849,
+                -0.004529590718448162,
+                -0.07361160963773727,
+                0.14248044788837433,
+                -0.05789579078555107,
+                -0.009934922680258751,
+                0.0866219773888588,
+                0.11681023985147476,
+                -0.4680559039115906,
+                0.22133809328079224,
+                0.14104235172271729,
+                -0.23538216948509216,
+                0.07681888341903687,
+                -0.27926841378211975,
+                0.18438929319381714,
+                -0.024466995149850845,
+                0.4456827938556671,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.1699291643141687,
+                -0.05869402125671848,
+                -0.011310644489747708,
+                0.06888877225746018,
+                0.1274475081403318,
+                -0.46049960201731144,
+                0.21676743217768007
+            ],
+            "target_pos": [
+                0.20545543730258942,
+                0.1524890959262848,
+                0.0850905105471611
+            ],
+            "target_quat_wxyz": [
+                0.9856575131416321,
+                0.02571866102516651,
+                -0.12183830142021179,
+                0.11389998346567154
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1693738885623457,
+                -0.24706503084600223,
+                0.048793052144868565,
+                -0.3064316103435022,
+                0.22126971538241486,
+                -0.048486065136997644,
+                0.4625381777888497
+            ],
+            "target_pos": [
+                0.20454706251621246,
+                -0.15975026786327362,
+                0.13743197917938232
+            ],
+            "target_quat_wxyz": [
+                0.9594916105270386,
+                -0.01705744117498398,
+                -0.08656495809555054,
+                0.26756569743156433
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000239_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 240,
+    "colors": {
+        "color_0": "colors/000240_color_0.jpg",
+        "color_2": "colors/000240_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.14759771525859833,
+                -0.05766809359192848,
+                -0.00999484397470951,
+                0.08229567110538483,
+                0.11832025647163391,
+                -0.46795621514320374,
+                0.2205480933189392
+            ],
+            "ee_pos": [
+                0.21187849342823029,
+                0.1515655815601349,
+                0.08803435415029526
+            ],
+            "ee_quat_wxyz": [
+                0.9858241081237793,
+                0.0168784037232399,
+                -0.12409105151891708,
+                0.11165724694728851
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.15004250407218933,
+                -0.23788687586784363,
+                0.06473878771066666,
+                -0.2875974476337433,
+                0.19936956465244293,
+                -0.03161534667015076,
+                0.45265474915504456
+            ],
+            "ee_pos": [
+                0.2117028683423996,
+                -0.15121270716190338,
+                0.13203135132789612
+            ],
+            "ee_quat_wxyz": [
+                0.9609910845756531,
+                -0.028868183493614197,
+                -0.07202664017677307,
+                0.26547107100486755
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051281452178955,
+                -0.1274346113204956,
+                -0.00258463597856462,
+                0.2623107135295868,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280571222305298,
+                -0.07311122864484787,
+                0.19561542570590973,
+                0.5043728947639465,
+                0.5073207020759583,
+                0.011341500096023083,
+                -0.06012961268424988,
+                -0.0043392907828092575,
+                -0.07382672280073166,
+                0.14901185035705566,
+                -0.057692062109708786,
+                -0.009958891198039055,
+                0.08113320171833038,
+                0.11845207959413528,
+                -0.4679485261440277,
+                0.22037169337272644,
+                0.15216371417045593,
+                -0.23847410082817078,
+                0.0622820183634758,
+                -0.2902100086212158,
+                0.2018263339996338,
+                -0.03274282068014145,
+                0.4534063935279846,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.17723266582770725,
+                -0.057629365632789975,
+                -0.010784835341278047,
+                0.06106862147649484,
+                0.12795698665904948,
+                -0.45808037761943243,
+                0.21545640260625143
+            ],
+            "target_pos": [
+                0.20381350815296173,
+                0.1530148684978485,
+                0.08555160462856293
+            ],
+            "target_quat_wxyz": [
+                0.9857518076896667,
+                0.026579298079013824,
+                -0.1200384795665741,
+                0.1147942990064621
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.17771771660289853,
+                -0.24788876867409998,
+                0.03655425855086129,
+                -0.3144580929192835,
+                0.23694358900512466,
+                -0.0530542596691103,
+                0.4667487168221294
+            ],
+            "target_pos": [
+                0.2031853348016739,
+                -0.16289186477661133,
+                0.13894890248775482
+            ],
+            "target_quat_wxyz": [
+                0.9603332877159119,
+                -0.0126457205042243,
+                -0.09070862084627151,
+                0.2633857727050781
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000240_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 241,
+    "colors": {
+        "color_0": "colors/000241_color_0.jpg",
+        "color_2": "colors/000241_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.15662184357643127,
+                -0.057620156556367874,
+                -0.009455553255975246,
+                0.0758361741900444,
+                0.1185719221830368,
+                -0.46754202246665955,
+                0.219765767455101
+            ],
+            "ee_pos": [
+                0.21009507775306702,
+                0.15226605534553528,
+                0.08760958909988403
+            ],
+            "ee_quat_wxyz": [
+                0.9858408570289612,
+                0.01759207248687744,
+                -0.12276724725961685,
+                0.11285602301359177
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16046877205371857,
+                -0.23987625539302826,
+                0.05366536229848862,
+                -0.29756832122802734,
+                0.21523667871952057,
+                -0.03876369819045067,
+                0.45735639333724976
+            ],
+            "ee_pos": [
+                0.209745392203331,
+                -0.15393047034740448,
+                0.1336607038974762
+            ],
+            "ee_quat_wxyz": [
+                0.9614123106002808,
+                -0.02413058467209339,
+                -0.07742264121770859,
+                0.26288744807243347
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051053762435913,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2623107135295868,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.128110647201538,
+                -0.07309418171644211,
+                0.19561542570590973,
+                0.5043728947639465,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06012961268424988,
+                -0.004171811044216156,
+                -0.07392659038305283,
+                0.158587247133255,
+                -0.05765610933303833,
+                -0.009359680116176605,
+                0.07400259375572205,
+                0.11858391016721725,
+                -0.467465341091156,
+                0.21950499713420868,
+                0.16227839887142181,
+                -0.24010396003723145,
+                0.05128049850463867,
+                -0.29941388964653015,
+                0.21805298328399658,
+                -0.040021561086177826,
+                0.4584992229938507,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.18532765749413496,
+                -0.05697473957437645,
+                -0.01039848380994386,
+                0.051849344451794295,
+                0.12855273944337725,
+                -0.4549469464612592,
+                0.2141745138621922
+            ],
+            "target_pos": [
+                0.20220370590686798,
+                0.15358175337314606,
+                0.08601141721010208
+            ],
+            "target_quat_wxyz": [
+                0.9857980608940125,
+                0.02776229940354824,
+                -0.11853870004415512,
+                0.11567221581935883
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18456602678240785,
+                -0.24794117228033635,
+                0.024637370250000408,
+                -0.32107986755176254,
+                0.24931525336015786,
+                -0.05681035209440701,
+                0.467292351411767
+            ],
+            "target_pos": [
+                0.20254667103290558,
+                -0.16573436558246613,
+                0.14013375341892242
+            ],
+            "target_quat_wxyz": [
+                0.9621245265007019,
+                -0.010400913655757904,
+                -0.09428013861179352,
+                0.2555766701698303
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000241_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 242,
+    "colors": {
+        "color_0": "colors/000242_color_0.jpg",
+        "color_2": "colors/000242_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.16622120141983032,
+                -0.057572219520807266,
+                -0.00926380604505539,
+                0.06636863946914673,
+                0.11871573328971863,
+                -0.4659697115421295,
+                0.21790964901447296
+            ],
+            "ee_pos": [
+                0.20828256011009216,
+                0.1529102772474289,
+                0.08765579760074615
+            ],
+            "ee_quat_wxyz": [
+                0.9858313202857971,
+                0.018290288746356964,
+                -0.12207875400781631,
+                0.11357288807630539
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16834241151809692,
+                -0.24047546088695526,
+                0.041968755424022675,
+                -0.304171621799469,
+                0.23066037893295288,
+                -0.04387952387332916,
+                0.4616055190563202
+            ],
+            "ee_pos": [
+                0.20834508538246155,
+                -0.15665988624095917,
+                0.13491718471050262
+            ],
+            "ee_quat_wxyz": [
+                0.962060809135437,
+                -0.018978651612997055,
+                -0.08170056343078613,
+                0.25962239503860474
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0509064197540283,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.26232776045799255,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280704736709595,
+                -0.07309418171644211,
+                0.19560202956199646,
+                0.5043814182281494,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06047780066728592,
+                -0.004164200276136398,
+                -0.07391154021024704,
+                0.1670720875263214,
+                -0.05758420377969742,
+                -0.00926380604505539,
+                0.06499045342206955,
+                0.11873970180749893,
+                -0.4658930003643036,
+                0.21762587130069733,
+                0.1691453605890274,
+                -0.24047546088695526,
+                0.040111202746629715,
+                -0.30475884675979614,
+                0.23177491128444672,
+                -0.044447094202041626,
+                0.4619813561439514,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.19413559526054544,
+                -0.056686833531793365,
+                -0.010379910716453111,
+                0.04220983035262661,
+                0.12968247924825518,
+                -0.4517044087979398,
+                0.21288839039163274
+            ],
+            "target_pos": [
+                0.20042645931243896,
+                0.15396444499492645,
+                0.0860956460237503
+            ],
+            "target_quat_wxyz": [
+                0.9858798980712891,
+                0.029392175376415253,
+                -0.11704102158546448,
+                0.11609628796577454
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19016842693900207,
+                -0.2468262290528321,
+                0.013046213267787004,
+                -0.3258066141889464,
+                0.25754095229845875,
+                -0.061126587336585166,
+                0.46452062387675414
+            ],
+            "target_pos": [
+                0.20206928253173828,
+                -0.16825984418392181,
+                0.14090533554553986
+            ],
+            "target_quat_wxyz": [
+                0.964249312877655,
+                -0.00981210544705391,
+                -0.0978592038154602,
+                0.2460702657699585
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000242_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 243,
+    "colors": {
+        "color_0": "colors/000243_color_0.jpg",
+        "color_2": "colors/000243_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.174538254737854,
+                -0.05752428248524666,
+                -0.009635317139327526,
+                0.05698499083518982,
+                0.11989019066095352,
+                -0.46498027443885803,
+                0.21560868620872498
+            ],
+            "ee_pos": [
+                0.20674410462379456,
+                0.15327088534832,
+                0.08802301436662674
+            ],
+            "ee_quat_wxyz": [
+                0.9857989549636841,
+                0.019310936331748962,
+                -0.12230107933282852,
+                0.11344598978757858
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.17627596855163574,
+                -0.24067918956279755,
+                0.029684925451874733,
+                -0.30957651138305664,
+                0.24075110256671906,
+                -0.048872631043195724,
+                0.4630397856235504
+            ],
+            "ee_pos": [
+                0.20703577995300293,
+                -0.15963967144489288,
+                0.1358208954334259
+            ],
+            "ee_quat_wxyz": [
+                0.9632090330123901,
+                -0.016222607344388962,
+                -0.08498489111661911,
+                0.25444599986076355
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.05085289478302,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.26237037777900696,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280704736709595,
+                -0.07310270518064499,
+                0.1955886334180832,
+                0.5043217539787292,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06066528707742691,
+                -0.004088075831532478,
+                -0.07396148890256882,
+                0.1757366806268692,
+                -0.05752428248524666,
+                -0.009671269915997982,
+                0.055630773305892944,
+                0.1200220137834549,
+                -0.46491891145706177,
+                0.2153632491827011,
+                0.17739050090312958,
+                -0.24067918956279755,
+                0.02744387648999691,
+                -0.31075096130371094,
+                0.24265658855438232,
+                -0.049486223608255386,
+                0.4629937708377838,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.20297606028126938,
+                -0.05663724423613773,
+                -0.010742014691457018,
+                0.03346262396029668,
+                0.1319818651228394,
+                -0.4489903070993727,
+                0.21189029127171827
+            ],
+            "target_pos": [
+                0.1987934559583664,
+                0.15420734882354736,
+                0.08591322600841522
+            ],
+            "target_quat_wxyz": [
+                0.9859389066696167,
+                0.03172369673848152,
+                -0.11572467535734177,
+                0.11630067229270935
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19347381201597214,
+                -0.244954721650049,
+                0.0006949502987539154,
+                -0.3269270282215717,
+                0.2658655044682067,
+                -0.06355760612038151,
+                0.46098804324843
+            ],
+            "target_pos": [
+                0.20248882472515106,
+                -0.17130136489868164,
+                0.14086346328258514
+            ],
+            "target_quat_wxyz": [
+                0.9663002490997314,
+                -0.0052254702895879745,
+                -0.09821821004152298,
+                0.23788583278656006
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000243_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 244,
+    "colors": {
+        "color_0": "colors/000244_color_0.jpg",
+        "color_2": "colors/000244_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1805543303489685,
+                -0.0574883297085762,
+                -0.009611348621547222,
+                0.050885021686553955,
+                0.12029765546321869,
+                -0.46325454115867615,
+                0.21489538252353668
+            ],
+            "ee_pos": [
+                0.2056247442960739,
+                0.15366236865520477,
+                0.08804303407669067
+            ],
+            "ee_quat_wxyz": [
+                0.9858052730560303,
+                0.0199030302464962,
+                -0.12160471826791763,
+                0.11403542011976242
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18121346831321716,
+                -0.2406672090291977,
+                0.018971027806401253,
+                -0.3135792315006256,
+                0.25075793266296387,
+                -0.05190224200487137,
+                0.46215009689331055
+            ],
+            "ee_pos": [
+                0.2062823325395584,
+                -0.16223621368408203,
+                0.13676923513412476
+            ],
+            "ee_quat_wxyz": [
+                0.9643877148628235,
+                -0.01314906682819128,
+                -0.08798375725746155,
+                0.24908283352851868
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506922006607056,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.26237890124320984,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1281241178512573,
+                -0.07310270518064499,
+                0.1955350637435913,
+                0.5043473243713379,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06077242270112038,
+                -0.003943440038710833,
+                -0.07413660734891891,
+                0.1805543303489685,
+                -0.0574883297085762,
+                -0.009611348621547222,
+                0.050885021686553955,
+                0.12029765546321869,
+                -0.46325454115867615,
+                0.21489538252353668,
+                0.18121346831321716,
+                -0.2406672090291977,
+                0.018971027806401253,
+                -0.3135792315006256,
+                0.25075793266296387,
+                -0.05190224200487137,
+                0.46215009689331055,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.21149018554328486,
+                -0.0569661197274539,
+                -0.011229876958531908,
+                0.025828222521637592,
+                0.13470199100488534,
+                -0.4464604399427966,
+                0.21178643554917448
+            ],
+            "target_pos": [
+                0.19723708927631378,
+                0.1543578952550888,
+                0.08568606525659561
+            ],
+            "target_quat_wxyz": [
+                0.9859535098075867,
+                0.033198706805706024,
+                -0.11370169371366501,
+                0.11775168776512146
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.19311352937657456,
+                -0.24297164502666693,
+                -0.011266882875735844,
+                -0.3233106956370366,
+                0.2739792589649159,
+                -0.060425890270022084,
+                0.4556472259066545
+            ],
+            "target_pos": [
+                0.20425988733768463,
+                -0.17428867518901825,
+                0.13968811929225922
+            ],
+            "target_quat_wxyz": [
+                0.9690636396408081,
+                0.0001573834742885083,
+                -0.09242986887693405,
+                0.22885002195835114
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000244_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 245,
+    "colors": {
+        "color_0": "colors/000245_color_0.jpg",
+        "color_2": "colors/000245_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.18860773742198944,
+                -0.05740443989634514,
+                -0.009419601410627365,
+                0.042388204485177994,
+                0.12101670354604721,
+                -0.4613370895385742,
+                0.21476499736309052
+            ],
+            "ee_pos": [
+                0.20411017537117004,
+                0.15426179766654968,
+                0.08819086849689484
+            ],
+            "ee_quat_wxyz": [
+                0.985713541507721,
+                0.020745830610394478,
+                -0.12104053795337677,
+                0.11527203023433685
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18406571447849274,
+                -0.24061927199363708,
+                0.007430219557136297,
+                -0.31492146849632263,
+                0.2606568932533264,
+                -0.05345923453569412,
+                0.4600331783294678
+            ],
+            "ee_pos": [
+                0.20599275827407837,
+                -0.16509105265140533,
+                0.13746196031570435
+            ],
+            "ee_quat_wxyz": [
+                0.9658475518226624,
+                -0.01003324519842863,
+                -0.09008324146270752,
+                0.24274030327796936
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506653785705566,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2624555826187134,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19554845988750458,
+                0.504338800907135,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.06082598865032196,
+                -0.003707451745867729,
+                -0.0743720754981041,
+                0.19026155769824982,
+                -0.057440392673015594,
+                -0.009443569928407669,
+                0.04056660085916519,
+                0.12111257761716843,
+                -0.4610762894153595,
+                0.21468062698841095,
+                0.18434135615825653,
+                -0.24060729146003723,
+                0.005764412228018045,
+                -0.31501734256744385,
+                0.2619631886482239,
+                -0.05349758267402649,
+                0.45970338582992554,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.22055170807093089,
+                -0.058199969060362025,
+                -0.012189261460144258,
+                0.016961869012467934,
+                0.1374009138272499,
+                -0.44339436044962566,
+                0.21243494103843288
+            ],
+            "target_pos": [
+                0.19537098705768585,
+                0.15424884855747223,
+                0.08614765852689743
+            ],
+            "target_quat_wxyz": [
+                0.9858992695808411,
+                0.03354910761117935,
+                -0.11208242177963257,
+                0.11964384466409683
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18847487737002713,
+                -0.24007486157515423,
+                -0.021987870850634278,
+                -0.31345715891125786,
+                0.2727149535254656,
+                -0.055905508029390455,
+                0.44324829724790166
+            ],
+            "target_pos": [
+                0.20734186470508575,
+                -0.1768762171268463,
+                0.13738428056240082
+            ],
+            "target_quat_wxyz": [
+                0.9736592173576355,
+                -0.00566958449780941,
+                -0.08661288768053055,
+                0.21084064245224
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000245_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 246,
+    "colors": {
+        "color_0": "colors/000246_color_0.jpg",
+        "color_2": "colors/000246_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.1992017924785614,
+                -0.05771602690219879,
+                -0.009707222692668438,
+                0.03212970867753029,
+                0.12335363030433655,
+                -0.45869097113609314,
+                0.21458858251571655
+            ],
+            "ee_pos": [
+                0.20212405920028687,
+                0.1547788828611374,
+                0.08820166438817978
+            ],
+            "ee_quat_wxyz": [
+                0.9856898188591003,
+                0.02226994000375271,
+                -0.11983794718980789,
+                0.11644097417593002
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18489262461662292,
+                -0.24028371274471283,
+                -0.004230431281030178,
+                -0.31476566195487976,
+                0.2666010856628418,
+                -0.05359729006886482,
+                0.4557303786277771
+            ],
+            "ee_pos": [
+                0.2061357945203781,
+                -0.16798190772533417,
+                0.13802500069141388
+            ],
+            "ee_quat_wxyz": [
+                0.9675792455673218,
+                -0.00855890940874815,
+                -0.09140188992023468,
+                0.23529309034347534
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506118535995483,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2624470591545105,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1280972957611084,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.504338800907135,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06077242270112038,
+                -0.0036008707247674465,
+                -0.07430166006088257,
+                0.20077171921730042,
+                -0.05771602690219879,
+                -0.009839048609137535,
+                0.030475884675979614,
+                0.12401276081800461,
+                -0.4584071636199951,
+                0.21461158990859985,
+                0.18491660058498383,
+                -0.24010396003723145,
+                -0.006004096940159798,
+                -0.31469377875328064,
+                0.26693663001060486,
+                -0.05359729006886482,
+                0.45433446764945984,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.2317283568238931,
+                -0.06054039333158952,
+                -0.01419032558686265,
+                0.004483119472650353,
+                0.140334693764193,
+                -0.4402235352528987,
+                0.2133350137746537
+            ],
+            "target_pos": [
+                0.1926860362291336,
+                0.15376752614974976,
+                0.08742858469486237
+            ],
+            "target_quat_wxyz": [
+                0.985737144947052,
+                0.033607762306928635,
+                -0.11190803349018097,
+                0.1211174726486206
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.17939572195655182,
+                -0.23561853119973353,
+                -0.03296229683447475,
+                -0.2975890741671107,
+                0.2633387711955901,
+                -0.05042885217631353,
+                0.42306138108256275
+            ],
+            "target_pos": [
+                0.21137775480747223,
+                -0.18019917607307434,
+                0.1347503811120987
+            ],
+            "target_quat_wxyz": [
+                0.9788796901702881,
+                -0.011591821908950806,
+                -0.0804850161075592,
+                0.1875695139169693
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000246_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 247,
+    "colors": {
+        "color_0": "colors/000247_color_0.jpg",
+        "color_2": "colors/000247_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.20990370213985443,
+                -0.05837516114115715,
+                -0.010162622667849064,
+                0.020960409194231033,
+                0.12715263664722443,
+                -0.4556383490562439,
+                0.21463459730148315
+            ],
+            "ee_pos": [
+                0.20014873147010803,
+                0.155167818069458,
+                0.08839132636785507
+            ],
+            "ee_quat_wxyz": [
+                0.9856312870979309,
+                0.024291740730404854,
+                -0.11888136714696884,
+                0.1175079345703125
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.18273547291755676,
+                -0.23931299149990082,
+                -0.014572817832231522,
+                -0.31097865104675293,
+                0.2661217153072357,
+                -0.05366631969809532,
+                0.442798912525177
+            ],
+            "ee_pos": [
+                0.20703962445259094,
+                -0.1708887219429016,
+                0.13818342983722687
+            ],
+            "ee_quat_wxyz": [
+                0.9702128767967224,
+                -0.009203672409057617,
+                -0.09170985221862793,
+                0.22403481602668762
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.26243001222610474,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19561542570590973,
+                0.5043984651565552,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.06081259995698929,
+                -0.0036084859166294336,
+                -0.07430669665336609,
+                0.20990370213985443,
+                -0.05837516114115715,
+                -0.010162622667849064,
+                0.020960409194231033,
+                0.12715263664722443,
+                -0.4556383490562439,
+                0.21463459730148315,
+                0.18273547291755676,
+                -0.23931299149990082,
+                -0.014572817832231522,
+                -0.31097865104675293,
+                0.2661217153072357,
+                -0.05366631969809532,
+                0.442798912525177,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.24484224181356667,
+                -0.06385303963373481,
+                -0.016783121455368137,
+                -0.012655553571252802,
+                0.14311604580735712,
+                -0.436004218471126,
+                0.21415467354288842
+            ],
+            "target_pos": [
+                0.18994443118572235,
+                0.15347792208194733,
+                0.08954233676195145
+            ],
+            "target_quat_wxyz": [
+                0.9854840636253357,
+                0.033136747777462006,
+                -0.1120266541838646,
+                0.12317954748868942
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1655152365496479,
+                -0.22952098900791057,
+                -0.04542707521420191,
+                -0.27821497570430254,
+                0.25178844244087556,
+                -0.04108794982021289,
+                0.395139086215363
+            ],
+            "target_pos": [
+                0.21642468869686127,
+                -0.18423855304718018,
+                0.1329403519630432
+            ],
+            "target_quat_wxyz": [
+                0.9842010736465454,
+                -0.01096191443502903,
+                -0.0726141482591629,
+                0.1611063927412033
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000247_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 248,
+    "colors": {
+        "color_0": "colors/000248_color_0.jpg",
+        "color_2": "colors/000248_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.2220437228679657,
+                -0.05994509533047676,
+                -0.011265171691775322,
+                0.006986803375184536,
+                0.12917795777320862,
+                -0.45095202326774597,
+                0.21471896767616272
+            ],
+            "ee_pos": [
+                0.1979682743549347,
+                0.15546588599681854,
+                0.08879970759153366
+            ],
+            "ee_quat_wxyz": [
+                0.9855624437332153,
+                0.02506684698164463,
+                -0.11774066835641861,
+                0.11906073987483978
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.17565278708934784,
+                -0.2368202805519104,
+                -0.025298699736595154,
+                -0.2991502285003662,
+                0.2621549367904663,
+                -0.0524161271750927,
+                0.4210394024848938
+            ],
+            "ee_pos": [
+                0.20917494595050812,
+                -0.1742708384990692,
+                0.1373789757490158
+            ],
+            "ee_quat_wxyz": [
+                0.9739980101585388,
+                -0.009905390441417694,
+                -0.08982038497924805,
+                0.2077547013759613
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.1274346113204956,
+                -0.0026382035575807095,
+                0.26242148876190186,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.128110647201538,
+                -0.07310270518064499,
+                0.19556185603141785,
+                0.5044155120849609,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.06083938106894493,
+                -0.0037302866112440825,
+                -0.07425662130117416,
+                0.2220437228679657,
+                -0.05994509533047676,
+                -0.011265171691775322,
+                0.006986803375184536,
+                0.12917795777320862,
+                -0.45095202326774597,
+                0.21471896767616272,
+                0.17565278708934784,
+                -0.2368202805519104,
+                -0.025298699736595154,
+                -0.2991502285003662,
+                0.2621549367904663,
+                -0.0524161271750927,
+                0.4210394024848938,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.25911840014540755,
+                -0.06755744635863443,
+                -0.01967235199377712,
+                -0.03318365418923938,
+                0.1457982561193474,
+                -0.43082692801782396,
+                0.2149185450904263
+            ],
+            "target_pos": [
+                0.187320277094841,
+                0.1533227115869522,
+                0.09177111834287643
+            ],
+            "target_quat_wxyz": [
+                0.9851424098014832,
+                0.032910048961639404,
+                -0.11246325075626373,
+                0.12555238604545593
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.14766763984229667,
+                -0.22358484397691458,
+                -0.059582491018232445,
+                -0.25726872245343974,
+                0.24185644737293258,
+                -0.02945566634246815,
+                0.3633458601692243
+            ],
+            "target_pos": [
+                0.221627876162529,
+                -0.18879348039627075,
+                0.13215135037899017
+            ],
+            "target_quat_wxyz": [
+                0.988379716873169,
+                -0.009364325553178787,
+                -0.06643505394458771,
+                0.13639749586582184
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000248_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 249,
+    "colors": {
+        "color_0": "colors/000249_color_0.jpg",
+        "color_2": "colors/000249_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.23520240187644958,
+                -0.060220733284950256,
+                -0.01296693179756403,
+                -0.0103783393278718,
+                0.130604088306427,
+                -0.44470104575157166,
+                0.21475732326507568
+            ],
+            "ee_pos": [
+                0.1956632435321808,
+                0.1559533029794693,
+                0.08966803550720215
+            ],
+            "ee_quat_wxyz": [
+                0.9854413866996765,
+                0.026147130876779556,
+                -0.11705255508422852,
+                0.12050002813339233
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.16344086825847626,
+                -0.23241007328033447,
+                -0.038217693567276,
+                -0.28304344415664673,
+                0.25241175293922424,
+                -0.045988745987415314,
+                0.39486968517303467
+            ],
+            "ee_pos": [
+                0.2124144732952118,
+                -0.1780698150396347,
+                0.13617205619812012
+            ],
+            "ee_quat_wxyz": [
+                0.9783248901367188,
+                -0.012019052170217037,
+                -0.08567213267087936,
+                0.188138946890831
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506118535995483,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.262481153011322,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280437707901,
+                -0.07310270518064499,
+                0.1955886334180832,
+                0.5043984651565552,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.0611741803586483,
+                -0.0036389371380209923,
+                -0.07428664714097977,
+                0.23520240187644958,
+                -0.060220733284950256,
+                -0.01296693179756403,
+                -0.0103783393278718,
+                0.130604088306427,
+                -0.44470104575157166,
+                0.21475732326507568,
+                0.16344086825847626,
+                -0.23241007328033447,
+                -0.038217693567276,
+                -0.28304344415664673,
+                0.25241175293922424,
+                -0.045988745987415314,
+                0.39486968517303467,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.27413993406202547,
+                -0.07097197513196392,
+                -0.022641329001537036,
+                -0.05436291702221493,
+                0.1482480581771103,
+                -0.42570838774313,
+                0.21602567196763678
+            ],
+            "target_pos": [
+                0.18451133370399475,
+                0.1533544957637787,
+                0.09329614788293839
+            ],
+            "target_quat_wxyz": [
+                0.9847673773765564,
+                0.03294717147946358,
+                -0.11267371475696564,
+                0.12826645374298096
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12701069505377124,
+                -0.21792392398099872,
+                -0.0748954187257733,
+                -0.23332078290836664,
+                0.2325746433527357,
+                -0.021463211763714175,
+                0.3323540039591259
+            ],
+            "target_pos": [
+                0.22679224610328674,
+                -0.19333426654338837,
+                0.13096986711025238
+            ],
+            "target_quat_wxyz": [
+                0.9912256002426147,
+                -0.011277949437499046,
+                -0.0659271627664566,
+                0.11401002109050751
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000249_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 250,
+    "colors": {
+        "color_0": "colors/000250_color_0.jpg",
+        "color_2": "colors/000250_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.25011077523231506,
+                -0.060448430478572845,
+                -0.015459650196135044,
+                -0.03183010220527649,
+                0.13388776779174805,
+                -0.44016048312187195,
+                0.21488003432750702
+            ],
+            "ee_pos": [
+                0.19304174184799194,
+                0.15631698071956635,
+                0.09134437143802643
+            ],
+            "ee_quat_wxyz": [
+                0.9850809574127197,
+                0.02794320322573185,
+                -0.11848663538694382,
+                0.12163707613945007
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.1464831829071045,
+                -0.22670559585094452,
+                -0.054432351142168045,
+                -0.26022547483444214,
+                0.2427884191274643,
+                -0.03820379450917244,
+                0.3633847236633301
+            ],
+            "ee_pos": [
+                0.21663576364517212,
+                -0.18284448981285095,
+                0.13449640572071075
+            ],
+            "ee_quat_wxyz": [
+                0.9830886125564575,
+                -0.01304891612380743,
+                -0.08041885495185852,
+                0.16401013731956482
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.12745164334774017,
+                -0.002624811604619026,
+                0.2624470591545105,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19556185603141785,
+                0.5043217539787292,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.061093829572200775,
+                -0.003593259956687689,
+                -0.07427655160427094,
+                0.25011077523231506,
+                -0.060448430478572845,
+                -0.015459650196135044,
+                -0.03183010220527649,
+                0.13388776779174805,
+                -0.44016048312187195,
+                0.21488003432750702,
+                0.1464831829071045,
+                -0.22670559585094452,
+                -0.054432351142168045,
+                -0.26022547483444214,
+                0.2427884191274643,
+                -0.03820379450917244,
+                0.3633847236633301,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.28961633694897365,
+                -0.07389931219271148,
+                -0.025427174230143894,
+                -0.0740207902710659,
+                0.150869192313274,
+                -0.4195483471724642,
+                0.21745052205070417
+            ],
+            "target_pos": [
+                0.18166877329349518,
+                0.15351146459579468,
+                0.09370417892932892
+            ],
+            "target_quat_wxyz": [
+                0.9847304224967957,
+                0.03394486382603645,
+                -0.10956139862537384,
+                0.1309581696987152
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10514852190547444,
+                -0.21490416014846267,
+                -0.08833810096062047,
+                -0.2070590356658547,
+                0.21793688198126535,
+                -0.01965053616893145,
+                0.3029578633689306
+            ],
+            "target_pos": [
+                0.23164643347263336,
+                -0.19716618955135345,
+                0.12981624901294708
+            ],
+            "target_quat_wxyz": [
+                0.9929874539375305,
+                -0.02335166744887829,
+                -0.06670182943344116,
+                0.09477097541093826
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000250_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 251,
+    "colors": {
+        "color_0": "colors/000251_color_0.jpg",
+        "color_2": "colors/000251_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.26257437467575073,
+                -0.06053232029080391,
+                -0.017101489007472992,
+                -0.0514482781291008,
+                0.13799835741519928,
+                -0.4354281425476074,
+                0.2152481973171234
+            ],
+            "ee_pos": [
+                0.1908818781375885,
+                0.15672287344932556,
+                0.09307700395584106
+            ],
+            "ee_quat_wxyz": [
+                0.9846762418746948,
+                0.030214719474315643,
+                -0.12009090185165405,
+                0.12279228121042252
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.12797954678535461,
+                -0.2238173931837082,
+                -0.06876548379659653,
+                -0.23522637784481049,
+                0.23081618547439575,
+                -0.03232097625732422,
+                0.3317003548145294
+            ],
+            "ee_pos": [
+                0.220993310213089,
+                -0.18757463991641998,
+                0.13281914591789246
+            ],
+            "ee_quat_wxyz": [
+                0.9870561957359314,
+                -0.016169661656022072,
+                -0.07513375580310822,
+                0.14076055586338043
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.1274346113204956,
+                -0.002624811604619026,
+                0.2624896764755249,
+                0.5249944925308228,
+                0.009699869900941849,
+                -1.1281909942626953,
+                -0.07308565825223923,
+                0.19565559923648834,
+                0.5044155120849609,
+                0.5073325037956238,
+                0.011327351443469524,
+                -0.06050458550453186,
+                -0.0035399673506617546,
+                -0.07426142692565918,
+                0.26257437467575073,
+                -0.06053232029080391,
+                -0.017101489007472992,
+                -0.0514482781291008,
+                0.13799835741519928,
+                -0.4354281425476074,
+                0.2152481973171234,
+                0.12797954678535461,
+                -0.2238173931837082,
+                -0.06876548379659653,
+                -0.23522637784481049,
+                0.23081618547439575,
+                -0.03232097625732422,
+                0.3317003548145294,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3059829756908715,
+                -0.07677375443926834,
+                -0.027948655028127146,
+                -0.0932812435099373,
+                0.15497026529392943,
+                -0.4115810388434896,
+                0.2198207647738113
+            ],
+            "target_pos": [
+                0.17854392528533936,
+                0.15373775362968445,
+                0.09437565505504608
+            ],
+            "target_quat_wxyz": [
+                0.9845760464668274,
+                0.03649204224348068,
+                -0.105153389275074,
+                0.13498570024967194
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08214796708000775,
+                -0.21478104808518844,
+                -0.10012255238025183,
+                -0.1808323682137546,
+                0.20190018375419538,
+                -0.018931997226634335,
+                0.275707824064369
+            ],
+            "target_pos": [
+                0.23674529790878296,
+                -0.2010166496038437,
+                0.1298321932554245
+            ],
+            "target_quat_wxyz": [
+                0.9943676590919495,
+                -0.031130095943808556,
+                -0.06507891416549683,
+                0.07764378935098648
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000251_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 252,
+    "colors": {
+        "color_0": "colors/000252_color_0.jpg",
+        "color_2": "colors/000252_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.27700337767601013,
+                -0.0604843832552433,
+                -0.01823999173939228,
+                -0.07176154106855392,
+                0.14751382172107697,
+                -0.4301205575466156,
+                0.21638333797454834
+            ],
+            "ee_pos": [
+                0.1883324831724167,
+                0.15719711780548096,
+                0.09462125599384308
+            ],
+            "ee_quat_wxyz": [
+                0.9842448234558105,
+                0.035333890467882156,
+                -0.12099149078130722,
+                0.1239948645234108
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.10645586997270584,
+                -0.221516415476799,
+                -0.08308663219213486,
+                -0.20900489389896393,
+                0.2169264554977417,
+                -0.028447674587368965,
+                0.30392763018608093
+            ],
+            "ee_pos": [
+                0.22569085657596588,
+                -0.1920778602361679,
+                0.131751149892807
+            ],
+            "ee_quat_wxyz": [
+                0.9900266528129578,
+                -0.020666183903813362,
+                -0.07149257510900497,
+                0.11961978673934937
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0505046844482422,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2624470591545105,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.1956288069486618,
+                0.5043814182281494,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06050458550453186,
+                -0.0033648735843598843,
+                -0.07424616813659668,
+                0.27700337767601013,
+                -0.0604843832552433,
+                -0.01823999173939228,
+                -0.07176154106855392,
+                0.14751382172107697,
+                -0.4301205575466156,
+                0.21638333797454834,
+                0.10645586997270584,
+                -0.221516415476799,
+                -0.08308663219213486,
+                -0.20900489389896393,
+                0.2169264554977417,
+                -0.028447674587368965,
+                0.30392763018608093,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3238678607203973,
+                -0.07984942692113148,
+                -0.030215258144874003,
+                -0.11436489420904727,
+                0.1576632044542745,
+                -0.40226976396366715,
+                0.22100654175448903
+            ],
+            "target_pos": [
+                0.17504270374774933,
+                0.15431126952171326,
+                0.09585469961166382
+            ],
+            "target_quat_wxyz": [
+                0.9845918416976929,
+                0.03552475944161415,
+                -0.10148728638887405,
+                0.13790291547775269
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.058786931829128315,
+                -0.21389902638630173,
+                -0.11145334105073018,
+                -0.15643482023704172,
+                0.1871528366413161,
+                -0.017970051690733048,
+                0.24935928812598868
+            ],
+            "target_pos": [
+                0.24145813286304474,
+                -0.2041979283094406,
+                0.1305503249168396
+            ],
+            "target_quat_wxyz": [
+                0.9955755472183228,
+                -0.032879333943128586,
+                -0.06535844504833221,
+                0.05896229296922684
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000252_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 253,
+    "colors": {
+        "color_0": "colors/000253_color_0.jpg",
+        "color_2": "colors/000253_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.2928105890750885,
+                -0.060268670320510864,
+                -0.02022937312722206,
+                -0.09251821786165237,
+                0.15204386413097382,
+                -0.4227191209793091,
+                0.21688956022262573
+            ],
+            "ee_pos": [
+                0.18555861711502075,
+                0.15775442123413086,
+                0.09583979099988937
+            ],
+            "ee_quat_wxyz": [
+                0.9840318560600281,
+                0.03825581073760986,
+                -0.12026353180408478,
+                0.12551696598529816
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.08430902659893036,
+                -0.22047379612922668,
+                -0.09427990019321442,
+                -0.18289126455783844,
+                0.2012990266084671,
+                -0.02639980986714363,
+                0.27758151292800903
+            ],
+            "ee_pos": [
+                0.23037837445735931,
+                -0.19588154554367065,
+                0.13096769154071808
+            ],
+            "ee_quat_wxyz": [
+                0.9921886920928955,
+                -0.026331854984164238,
+                -0.06863115727901459,
+                0.10078661888837814
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.1274346113204956,
+                -0.0025712440256029367,
+                0.26246410608291626,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1280704736709595,
+                -0.07309418171644211,
+                0.1956823766231537,
+                0.5044155120849609,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.06051797792315483,
+                -0.0030831985641270876,
+                -0.074150450527668,
+                0.2928105890750885,
+                -0.060268670320510864,
+                -0.02022937312722206,
+                -0.09251821786165237,
+                0.15204386413097382,
+                -0.4227191209793091,
+                0.21688956022262573,
+                0.08430902659893036,
+                -0.22047379612922668,
+                -0.09427990019321442,
+                -0.18289126455783844,
+                0.2012990266084671,
+                -0.02639980986714363,
+                0.27758151292800903,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3422867436199091,
+                -0.08211771375616725,
+                -0.03301774627322326,
+                -0.13669438644910828,
+                0.16017038013764429,
+                -0.392029015335383,
+                0.2211772981534108
+            ],
+            "target_pos": [
+                0.1718442291021347,
+                0.15458376705646515,
+                0.09733060002326965
+            ],
+            "target_quat_wxyz": [
+                0.984687089920044,
+                0.036845769733190536,
+                -0.09839499741792679,
+                0.13911201059818268
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.037506451051434436,
+                -0.21349339279827845,
+                -0.12156783667053678,
+                -0.13743750367111754,
+                0.17890562920544173,
+                -0.014217276686250363,
+                0.22908027397411942
+            ],
+            "target_pos": [
+                0.24473194777965546,
+                -0.20646625757217407,
+                0.13210204243659973
+            ],
+            "target_quat_wxyz": [
+                0.9961437582969666,
+                -0.03024113178253174,
+                -0.06494370847940445,
+                0.050649382174015045
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000253_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 254,
+    "colors": {
+        "color_0": "colors/000254_color_0.jpg",
+        "color_2": "colors/000254_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.3080185651779175,
+                -0.06019676476716995,
+                -0.022590264678001404,
+                -0.11211242526769638,
+                0.15272696316242218,
+                -0.4130626916885376,
+                0.21715033054351807
+            ],
+            "ee_pos": [
+                0.18294276297092438,
+                0.15831397473812103,
+                0.09671714156866074
+            ],
+            "ee_quat_wxyz": [
+                0.9840301871299744,
+                0.03930909186601639,
+                -0.11800848692655563,
+                0.12733198702335358
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.06309694796800613,
+                -0.2199225127696991,
+                -0.10396315157413483,
+                -0.16025306284427643,
+                0.18962639570236206,
+                -0.024842821061611176,
+                0.2526543140411377
+            ],
+            "ee_pos": [
+                0.2347429096698761,
+                -0.19918930530548096,
+                0.13089877367019653
+            ],
+            "ee_quat_wxyz": [
+                0.9937387108802795,
+                -0.030337968841195107,
+                -0.06747770309448242,
+                0.08372435718774796
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0506118535995483,
+                -0.1274431198835373,
+                -0.002611419651657343,
+                0.2623533308506012,
+                0.5249970555305481,
+                0.009702962823212147,
+                -1.1280839443206787,
+                -0.07309418171644211,
+                0.19569577276706696,
+                0.5044155120849609,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.060236748307943344,
+                -0.002969002351164818,
+                -0.07406497001647949,
+                0.3080185651779175,
+                -0.06019676476716995,
+                -0.022590264678001404,
+                -0.11211242526769638,
+                0.15272696316242218,
+                -0.4130626916885376,
+                0.21715033054351807,
+                0.06309694796800613,
+                -0.2199225127696991,
+                -0.10396315157413483,
+                -0.16025306284427643,
+                0.18962639570236206,
+                -0.024842821061611176,
+                0.2526543140411377,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3600647104784353,
+                -0.08285233995661886,
+                -0.035678558528272175,
+                -0.15873028595271968,
+                0.16441386983943473,
+                -0.38201774037890424,
+                0.22180019784687982
+            ],
+            "target_pos": [
+                0.16896440088748932,
+                0.15519610047340393,
+                0.09856214374303818
+            ],
+            "target_quat_wxyz": [
+                0.9844003915786743,
+                0.04204954206943512,
+                -0.09623550623655319,
+                0.14116106927394867
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.021517647904020158,
+                -0.21462842470398066,
+                -0.12966371467175478,
+                -0.1265591045200825,
+                0.17715659831957203,
+                -0.009392768533212576,
+                0.21664997537129507
+            ],
+            "target_pos": [
+                0.2459128051996231,
+                -0.2080516666173935,
+                0.13433745503425598
+            ],
+            "target_quat_wxyz": [
+                0.996180534362793,
+                -0.02918815426528454,
+                -0.06609535962343216,
+                0.04902884364128113
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000254_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 255,
+    "colors": {
+        "color_0": "colors/000255_color_0.jpg",
+        "color_2": "colors/000255_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.32692965865135193,
+                -0.06025668606162071,
+                -0.024771394208073616,
+                -0.1341753900051117,
+                0.15320633351802826,
+                -0.4036824107170105,
+                0.2173650860786438
+            ],
+            "ee_pos": [
+                0.17959560453891754,
+                0.1591070592403412,
+                0.09757696837186813
+            ],
+            "ee_quat_wxyz": [
+                0.9839810132980347,
+                0.04046701267361641,
+                -0.11531857401132584,
+                0.12978996336460114
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0415133573114872,
+                -0.21952703595161438,
+                -0.1143774464726448,
+                -0.14197711646556854,
+                0.1839219033718109,
+                -0.020716411992907524,
+                0.2330193668603897
+            ],
+            "ee_pos": [
+                0.23900263011455536,
+                -0.20218166708946228,
+                0.131851464509964
+            ],
+            "ee_quat_wxyz": [
+                0.9947642683982849,
+                -0.031683627516031265,
+                -0.067869171500206,
+                0.06952694058418274
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.1274431198835373,
+                -0.0025980276986956596,
+                0.2623959481716156,
+                0.5250000357627869,
+                0.009699433110654354,
+                -1.1281508207321167,
+                -0.07309418171644211,
+                0.19569577276706696,
+                0.5044240355491638,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.060544759035110474,
+                -0.002930939896032214,
+                -0.07402978092432022,
+                0.3289310336112976,
+                -0.06029263883829117,
+                -0.02503504604101181,
+                -0.13584119081497192,
+                0.15332618355751038,
+                -0.40325289964675903,
+                0.21740344166755676,
+                0.039691753685474396,
+                -0.21950307488441467,
+                -0.11531221866607666,
+                -0.14112623035907745,
+                0.18363428115844727,
+                -0.020325247198343277,
+                0.23164644837379456,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3754930857431079,
+                -0.08361606833942886,
+                -0.037088959436767675,
+                -0.18014187576306495,
+                0.16761043245097643,
+                -0.37047366916737845,
+                0.22329656549871374
+            ],
+            "target_pos": [
+                0.1670648753643036,
+                0.15628665685653687,
+                0.10001784563064575
+            ],
+            "target_quat_wxyz": [
+                0.9839211106300354,
+                0.04323232173919678,
+                -0.09306111186742783,
+                0.14618417620658875
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.011310575368963665,
+                -0.21624897981141883,
+                -0.13567586101406554,
+                -0.12273443475148571,
+                0.1798702194982979,
+                -0.0055112335258708,
+                0.21104996125945658
+            ],
+            "target_pos": [
+                0.24609985947608948,
+                -0.208880215883255,
+                0.13639765977859497
+            ],
+            "target_quat_wxyz": [
+                0.9960433840751648,
+                -0.02702942304313183,
+                -0.06861110031604767,
+                0.04959283024072647
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000255_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 256,
+    "colors": {
+        "color_0": "colors/000256_color_0.jpg",
+        "color_2": "colors/000256_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.34434273838996887,
+                -0.06102367490530014,
+                -0.02750379778444767,
+                -0.15403324365615845,
+                0.1561664342880249,
+                -0.3939569592475891,
+                0.2175261527299881
+            ],
+            "ee_pos": [
+                0.17657484114170074,
+                0.15947909653186798,
+                0.09824524074792862
+            ],
+            "ee_quat_wxyz": [
+                0.9840373396873474,
+                0.04232320562005043,
+                -0.11216205358505249,
+                0.1315254420042038
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.026389263570308685,
+                -0.21965886652469635,
+                -0.12564261257648468,
+                -0.13336046040058136,
+                0.18263959884643555,
+                -0.01625252701342106,
+                0.22113101184368134
+            ],
+            "ee_pos": [
+                0.24179455637931824,
+                -0.20497719943523407,
+                0.13363143801689148
+            ],
+            "ee_quat_wxyz": [
+                0.9952921271324158,
+                -0.031856972724199295,
+                -0.06994032114744186,
+                0.05905153602361679
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.050598382949829,
+                -0.1274431198835373,
+                -0.00258463597856462,
+                0.26228514313697815,
+                0.5250030159950256,
+                0.009695903398096561,
+                -1.1280839443206787,
+                -0.07308565825223923,
+                0.19570916891098022,
+                0.5044410824775696,
+                0.507329523563385,
+                0.01133795641362667,
+                -0.06027692183852196,
+                -0.00280152284540236,
+                -0.07396436482667923,
+                0.34434273838996887,
+                -0.06102367490530014,
+                -0.02750379778444767,
+                -0.15403324365615845,
+                0.1561664342880249,
+                -0.3939569592475891,
+                0.2175261527299881,
+                0.026389263570308685,
+                -0.21965886652469635,
+                -0.12564261257648468,
+                -0.13336046040058136,
+                0.18263959884643555,
+                -0.01625252701342106,
+                0.22113101184368134,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3858605530062698,
+                -0.08543608941858404,
+                -0.03729265438768328,
+                -0.19750758979468752,
+                0.17122481627900715,
+                -0.35935379977987814,
+                0.22694722354217775
+            ],
+            "target_pos": [
+                0.16669636964797974,
+                0.1567622274160385,
+                0.10108962655067444
+            ],
+            "target_quat_wxyz": [
+                0.9830737113952637,
+                0.04398856312036514,
+                -0.0925092101097107,
+                0.15189838409423828
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.004642218191080648,
+                -0.21819345880812738,
+                -0.14047060825817326,
+                -0.12087395374131435,
+                0.18593965737276025,
+                -0.0024347382833921024,
+                0.21183875504706076
+            ],
+            "target_pos": [
+                0.24671471118927002,
+                -0.20981018245220184,
+                0.1370479166507721
+            ],
+            "target_quat_wxyz": [
+                0.9959557056427002,
+                -0.02307586744427681,
+                -0.06941370666027069,
+                0.05216721072793007
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000256_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 257,
+    "colors": {
+        "color_0": "colors/000257_color_0.jpg",
+        "color_2": "colors/000257_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.36299020051956177,
+                -0.06304901093244553,
+                -0.0285943616181612,
+                -0.17499366402626038,
+                0.15718509256839752,
+                -0.3837253153324127,
+                0.21925188601016998
+            ],
+            "ee_pos": [
+                0.17327409982681274,
+                0.16030573844909668,
+                0.09893923252820969
+            ],
+            "ee_quat_wxyz": [
+                0.9838607907295227,
+                0.043062806129455566,
+                -0.10859237611293793,
+                0.1355406790971756
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.012655341997742653,
+                -0.21981465816497803,
+                -0.13280917704105377,
+                -0.1287824809551239,
+                0.1836223006248474,
+                -0.012640002183616161,
+                0.21497975289821625
+            ],
+            "ee_pos": [
+                0.24426604807376862,
+                -0.2063729465007782,
+                0.13589808344841003
+            ],
+            "ee_quat_wxyz": [
+                0.9953650236129761,
+                -0.031155167147517204,
+                -0.07342477142810822,
+                0.05372728034853935
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0510402917861938,
+                -0.12746016681194305,
+                -0.0025980276986956596,
+                0.2622680962085724,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1281508207321167,
+                -0.07309418171644211,
+                0.19578951597213745,
+                0.5044410824775696,
+                0.507323682308197,
+                0.011337962932884693,
+                -0.060236748307943344,
+                -0.0026644852478057146,
+                -0.07386378943920135,
+                0.36299020051956177,
+                -0.06304901093244553,
+                -0.0285943616181612,
+                -0.17499366402626038,
+                0.15718509256839752,
+                -0.3837253153324127,
+                0.21925188601016998,
+                0.012655341997742653,
+                -0.21981465816497803,
+                -0.13280917704105377,
+                -0.1287824809551239,
+                0.1836223006248474,
+                -0.012640002183616161,
+                0.21497975289821625,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.39373752099225023,
+                -0.0867447980426704,
+                -0.03649506757051083,
+                -0.215108169753323,
+                0.17395992961563905,
+                -0.34915497133169277,
+                0.23010758953948732
+            ],
+            "target_pos": [
+                0.16579072177410126,
+                0.15787814557552338,
+                0.10367987304925919
+            ],
+            "target_quat_wxyz": [
+                0.9822927117347717,
+                0.04554305598139763,
+                -0.09487684816122055,
+                0.1550009697675705
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.0016988217711860537,
+                -0.2186344312977044,
+                -0.14317420090612443,
+                -0.12287956046219795,
+                0.19037729066946169,
+                0.0006416629494615647,
+                0.21271866625940783
+            ],
+            "target_pos": [
+                0.2462833970785141,
+                -0.2092973291873932,
+                0.13802668452262878
+            ],
+            "target_quat_wxyz": [
+                0.9959708452224731,
+                -0.021873896941542625,
+                -0.06993603706359863,
+                0.05169684812426567
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000257_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 258,
+    "colors": {
+        "color_0": "colors/000258_color_0.jpg",
+        "color_2": "colors/000258_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.3757414221763611,
+                -0.06588926911354065,
+                -0.029337383806705475,
+                -0.1912921965122223,
+                0.15784423053264618,
+                -0.37462881207466125,
+                0.22341664135456085
+            ],
+            "ee_pos": [
+                0.17105604708194733,
+                0.16089658439159393,
+                0.09970822930335999
+            ],
+            "ee_quat_wxyz": [
+                0.9834814667701721,
+                0.042811378836631775,
+                -0.10611459612846375,
+                0.1402537077665329
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                0.004565989598631859,
+                -0.22009029984474182,
+                -0.1377466917037964,
+                -0.12764398753643036,
+                0.1853480339050293,
+                -0.01062281709164381,
+                0.2134687751531601
+            ],
+            "ee_pos": [
+                0.24564212560653687,
+                -0.20720238983631134,
+                0.1376650333404541
+            ],
+            "ee_quat_wxyz": [
+                0.9952796101570129,
+                -0.030478451400995255,
+                -0.07640440762042999,
+                0.05149643495678902
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051174283027649,
+                -0.1274346113204956,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1281508207321167,
+                -0.07308565825223923,
+                0.1958162933588028,
+                0.5044581294059753,
+                0.507326602935791,
+                0.011334425769746304,
+                -0.0602099634706974,
+                -0.0026568747125566006,
+                -0.07385876029729843,
+                0.37658029794692993,
+                -0.06608101725578308,
+                -0.029397305101156235,
+                -0.19274228811264038,
+                0.1578921675682068,
+                -0.37354734539985657,
+                0.22385382652282715,
+                0.003978762775659561,
+                -0.22011426091194153,
+                -0.13815414905548096,
+                -0.1276559680700302,
+                0.18546786904335022,
+                -0.010423400439321995,
+                0.21341508626937866,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3980139721351834,
+                -0.08776298218382342,
+                -0.03574799089474155,
+                -0.23022645623487542,
+                0.17567204236884637,
+                -0.3407976592643563,
+                0.23290541734789744
+            ],
+            "target_pos": [
+                0.1659313291311264,
+                0.1582864224910736,
+                0.10563230514526367
+            ],
+            "target_quat_wxyz": [
+                0.9816787838935852,
+                0.045834317803382874,
+                -0.09794625639915466,
+                0.15688374638557434
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.00020702978322342634,
+                -0.21790695767746557,
+                -0.14446605581820562,
+                -0.12401794911340923,
+                0.1923452087835014,
+                0.004201136886414907,
+                0.2127243455985961
+            ],
+            "target_pos": [
+                0.2466176599264145,
+                -0.20899847149848938,
+                0.137689471244812
+            ],
+            "target_quat_wxyz": [
+                0.996178925037384,
+                -0.021410712972283363,
+                -0.06779517978429794,
+                0.05072394013404846
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000258_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 259,
+    "colors": {
+        "color_0": "colors/000259_color_0.jpg",
+        "color_2": "colors/000259_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.3841063976287842,
+                -0.06780674308538437,
+                -0.029265478253364563,
+                -0.20840567350387573,
+                0.15930630266666412,
+                -0.3617740571498871,
+                0.2263312041759491
+            ],
+            "ee_pos": [
+                0.1697787344455719,
+                0.16154582798480988,
+                0.10105464607477188
+            ],
+            "ee_quat_wxyz": [
+                0.9831015467643738,
+                0.043403495103120804,
+                -0.10426635295152664,
+                0.1440696269273758
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.00025166873820126057,
+                -0.22005434334278107,
+                -0.13883724808692932,
+                -0.12766794860363007,
+                0.18681010603904724,
+                -0.008222137577831745,
+                0.21339207887649536
+            ],
+            "ee_pos": [
+                0.24650049209594727,
+                -0.20714712142944336,
+                0.13865725696086884
+            ],
+            "ee_quat_wxyz": [
+                0.9951945543289185,
+                -0.029663490131497383,
+                -0.07778176665306091,
+                0.0515546016395092
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0511876344680786,
+                -0.12746016681194305,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5250025987625122,
+                0.009702525101602077,
+                -1.1280839443206787,
+                -0.07310270518064499,
+                0.1958162933588028,
+                0.5044581294059753,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.059567153453826904,
+                -0.0027939057908952236,
+                -0.073828786611557,
+                0.3852688670158386,
+                -0.06813032180070877,
+                -0.029265478253364563,
+                -0.2112579196691513,
+                0.15954598784446716,
+                -0.3603934645652771,
+                0.22655363380908966,
+                -0.0006111955153755844,
+                -0.22006632387638092,
+                -0.13884922862052917,
+                -0.1276559680700302,
+                0.18706177175045013,
+                -0.007938350550830364,
+                0.2133767455816269,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.39905687299056597,
+                -0.08836917603240266,
+                -0.035720466854478244,
+                -0.24297625985283605,
+                0.17682456655715303,
+                -0.3331705576835993,
+                0.23473909761170542
+            ],
+            "target_pos": [
+                0.1667056828737259,
+                0.1582309603691101,
+                0.10742191970348358
+            ],
+            "target_quat_wxyz": [
+                0.981349527835846,
+                0.04545529559254646,
+                -0.10076747089624405,
+                0.15726663172245026
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0016129797730464013,
+                -0.21663106360060172,
+                -0.14422598386284213,
+                -0.12433172655056052,
+                0.19223061428357335,
+                0.00778406644282628,
+                0.2118320533228758
+            ],
+            "target_pos": [
+                0.24694253504276276,
+                -0.20835517346858978,
+                0.13730280101299286
+            ],
+            "target_quat_wxyz": [
+                0.996301531791687,
+                -0.021308179944753647,
+                -0.066095732152462,
+                0.05060165002942085
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000259_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 260,
+    "colors": {
+        "color_0": "colors/000260_color_0.jpg",
+        "color_2": "colors/000260_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.3911171853542328,
+                -0.06985604763031006,
+                -0.02931341528892517,
+                -0.2245364487171173,
+                0.1615833044052124,
+                -0.3540581166744232,
+                0.22793421149253845
+            ],
+            "ee_pos": [
+                0.16868342459201813,
+                0.16193826496601105,
+                0.10288988798856735
+            ],
+            "ee_quat_wxyz": [
+                0.9825806021690369,
+                0.044083207845687866,
+                -0.10512026399374008,
+                0.14677108824253082
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0018695391481742263,
+                -0.2200183868408203,
+                -0.13881328701972961,
+                -0.1276559680700302,
+                0.18838003277778625,
+                -0.00524621456861496,
+                0.2133537232875824
+            ],
+            "ee_pos": [
+                0.2468290627002716,
+                -0.20704272389411926,
+                0.13877257704734802
+            ],
+            "ee_quat_wxyz": [
+                0.9952560663223267,
+                -0.028653869405388832,
+                -0.07721799612045288,
+                0.05178498849272728
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.051120638847351,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622680962085724,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.1280704736709595,
+                -0.07310270518064499,
+                0.19582968950271606,
+                0.5044240355491638,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.05895112454891205,
+                -0.0028091329149901867,
+                -0.07392922043800354,
+                0.3911171853542328,
+                -0.06985604763031006,
+                -0.02931341528892517,
+                -0.2245364487171173,
+                0.1615833044052124,
+                -0.3540581166744232,
+                0.22793421149253845,
+                -0.0018695391481742263,
+                -0.2200183868408203,
+                -0.13881328701972961,
+                -0.1276559680700302,
+                0.18838003277778625,
+                -0.00524621456861496,
+                0.2133537232875824,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.39695342328726857,
+                -0.08806103768984153,
+                -0.03584564434043735,
+                -0.2500512612170549,
+                0.17702021022379838,
+                -0.32766794975281044,
+                0.23482553950545565
+            ],
+            "target_pos": [
+                0.16805656254291534,
+                0.15813851356506348,
+                0.10752992331981659
+            ],
+            "target_quat_wxyz": [
+                0.981454074382782,
+                0.04518056660890579,
+                -0.10278817266225815,
+                0.15537434816360474
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0029634768277150185,
+                -0.21478727405173753,
+                -0.1425456952623085,
+                -0.12240388675210162,
+                0.19096252591742596,
+                0.00930260406622639,
+                0.21076030315177557
+            ],
+            "target_pos": [
+                0.2474890500307083,
+                -0.2074577361345291,
+                0.13618914783000946
+            ],
+            "target_quat_wxyz": [
+                0.996307909488678,
+                -0.02063961699604988,
+                -0.06555335968732834,
+                0.051451534032821655
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000260_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 261,
+    "colors": {
+        "color_0": "colors/000261_color_0.jpg",
+        "color_2": "colors/000261_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.3929867148399353,
+                -0.07043129205703735,
+                -0.029277462512254715,
+                -0.23493875563144684,
+                0.16336895525455475,
+                -0.34753870964050293,
+                0.22985169291496277
+            ],
+            "ee_pos": [
+                0.1684994250535965,
+                0.16221770644187927,
+                0.10437164455652237
+            ],
+            "ee_quat_wxyz": [
+                0.9821653366088867,
+                0.04481326416134834,
+                -0.10621852427721024,
+                0.14852847158908844
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0018575548892840743,
+                -0.21961092948913574,
+                -0.13773469626903534,
+                -0.12759605050086975,
+                0.1885957568883896,
+                -0.0030833014752715826,
+                0.2134917825460434
+            ],
+            "ee_pos": [
+                0.24688687920570374,
+                -0.20672887563705444,
+                0.13847053050994873
+            ],
+            "ee_quat_wxyz": [
+                0.9953318238258362,
+                -0.028126515448093414,
+                -0.07604315131902695,
+                0.0523541085422039
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0508795976638794,
+                -0.12745164334774017,
+                -0.002611419651657343,
+                0.2622595727443695,
+                0.5249974727630615,
+                0.009696340188384056,
+                -1.128110647201538,
+                -0.07310270518064499,
+                0.19582968950271606,
+                0.5044325590133667,
+                0.5073265433311462,
+                0.01134149357676506,
+                -0.05850919336080551,
+                -0.0027786814607679844,
+                -0.0739392340183258,
+                0.39299869537353516,
+                -0.07045526057481766,
+                -0.029277462512254715,
+                -0.2365685999393463,
+                0.1636326164007187,
+                -0.3463268578052521,
+                0.2302965521812439,
+                -0.0018575548892840743,
+                -0.2192993313074112,
+                -0.1375429481267929,
+                -0.12754811346530914,
+                0.1886197179555893,
+                -0.0027995151467621326,
+                0.2134687751531601,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3928512283289694,
+                -0.0866966742754062,
+                -0.03680426260377148,
+                -0.25278046664529197,
+                0.17768621655854402,
+                -0.32373500044113634,
+                0.23383359292482864
+            ],
+            "target_pos": [
+                0.16927102208137512,
+                0.1576472520828247,
+                0.10779811441898346
+            ],
+            "target_quat_wxyz": [
+                0.9817326068878174,
+                0.04654089733958244,
+                -0.1047111377120018,
+                0.15189000964164734
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.004024014516092645,
+                -0.2131252896958594,
+                -0.1406083157935384,
+                -0.12110901822284008,
+                0.19065048101386567,
+                0.010542864219223291,
+                0.21057739461090852
+            ],
+            "target_pos": [
+                0.2475663721561432,
+                -0.20668722689151764,
+                0.13626505434513092
+            ],
+            "target_quat_wxyz": [
+                0.9962634444236755,
+                -0.01913083717226982,
+                -0.0654577910900116,
+                0.05299492925405502
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000261_mic0.npy"
+    },
+    "sim_state": null
+},
+{
+    "idx": 262,
+    "colors": {
+        "color_0": "colors/000262_color_0.jpg",
+        "color_2": "colors/000262_color_2.jpg"
+    },
+    "depths": {},
+    "states": {
+        "left_arm": {
+            "qpos": [
+                0.3928189277648926,
+                -0.07046724110841751,
+                -0.02931341528892517,
+                -0.24421453475952148,
+                0.1643276959657669,
+                -0.3407585024833679,
+                0.23185354471206665
+            ],
+            "ee_pos": [
+                0.16869273781776428,
+                0.16246424615383148,
+                0.10590103268623352
+            ],
+            "ee_quat_wxyz": [
+                0.9817712903022766,
+                0.045214008539915085,
+                -0.10759901255369186,
+                0.15001077950000763
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.0018335864879190922,
+                -0.21828067302703857,
+                -0.1369916796684265,
+                -0.1272604912519455,
+                0.18867963552474976,
+                -0.0015569905517622828,
+                0.2134457677602768
+            ],
+            "ee_pos": [
+                0.2469312697649002,
+                -0.20637765526771545,
+                0.1381193995475769
+            ],
+            "ee_quat_wxyz": [
+                0.9954155683517456,
+                -0.027239637449383736,
+                -0.07509090006351471,
+                0.05260404199361801
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.7394903486686495
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -1.0507323741912842,
+                -0.1274431198835373,
+                -0.002624811604619026,
+                0.26237890124320984,
+                0.5250004529953003,
+                0.009692810475826263,
+                -1.1280704736709595,
+                -0.07307714223861694,
+                0.19578951597213745,
+                0.5044155120849609,
+                0.5073236227035522,
+                0.01134503073990345,
+                -0.05899130180478096,
+                -0.0028015177231281996,
+                -0.07393423467874527,
+                0.3928189277648926,
+                -0.07046724110841751,
+                -0.02931341528892517,
+                -0.24519725143909454,
+                0.16439960896968842,
+                -0.34037500619888306,
+                0.23196092247962952,
+                -0.0018335864879190922,
+                -0.21818479895591736,
+                -0.1369437426328659,
+                -0.12720057368278503,
+                0.18865567445755005,
+                -0.0013345633633434772,
+                0.2134457677602768,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0
+            ]
+        }
+    },
+    "actions": {
+        "left_arm": {
+            "qpos": [
+                0.3870092678138858,
+                -0.08479992972495136,
+                -0.0387502388231903,
+                -0.2506093661661527,
+                0.18044188628573182,
+                -0.3202953452790309,
+                0.2332588953586916
+            ],
+            "target_pos": [
+                0.17098252475261688,
+                0.1565445512533188,
+                0.10683939605951309
+            ],
+            "target_quat_wxyz": [
+                0.9821032881736755,
+                0.04951046407222748,
+                -0.10443529486656189,
+                0.1487116813659668
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_arm": {
+            "qpos": [
+                -0.005329011394604455,
+                -0.21182189493668196,
+                -0.13977753043977006,
+                -0.1190279910156565,
+                0.19130230115075855,
+                0.010559427640373108,
+                0.21107929699031203
+            ],
+            "target_pos": [
+                0.2479805201292038,
+                -0.20688645541667938,
+                0.13598738610744476
+            ],
+            "target_quat_wxyz": [
+                0.9962528944015503,
+                -0.017797274515032768,
+                -0.06592994183301926,
+                0.05307261645793915
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "left_ee": {
+            "qpos": [
+                0.0
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "right_ee": {
+            "qpos": [
+                0.6
+            ],
+            "qvel": [],
+            "torque": []
+        },
+        "body": {
+            "qpos": [
+                -0.0,
+                -0.0,
+                -0.0
+            ]
+        }
+    },
+    "tactiles": null,
+    "audios": {
+        "mic0": "audios/audio_000262_mic0.npy"
+    },
+    "sim_state": null
+}
+]
+}
\ No newline at end of file
diff --git a/redirect_red2green/episode_0003/audios/audio_000000_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000000_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7e80d99b852e7139959fd631a2837eca2336d71
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000000_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:811d2e1e81aaca0efcbb5ceba500108325a628583a35f1e6c14bed15aa733c2f
+size 128
diff --git a/redirect_red2green/episode_0003/audios/audio_000001_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000001_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dfffa88613335b9f93de89465422e965fe857206
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000001_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5941fe90057234b59d6f3d473f60a4f46c884fb98a528386beae739805a85ca2
+size 980
diff --git a/redirect_red2green/episode_0003/audios/audio_000002_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000002_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dfa9c85d9bf307c38b0cadf294aa9aa4b8f10435
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000002_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79aeae33e1d0ae4bdd8172e52e89ba5d435f6f7bc49fba1263c8f9af4794e025
+size 1066
diff --git a/redirect_red2green/episode_0003/audios/audio_000003_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000003_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..706e1a26243c086706c22001d632d99fb386a334
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000003_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d01351946d96fee10cb36c03194793905c2115ff4b19da5a64511c120430b6a
+size 1408
diff --git a/redirect_red2green/episode_0003/audios/audio_000004_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000004_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92ec92bc4d8314ca7a676fd27a7ef777cd506711
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000004_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75447175ace19c72fd46cc76bce0361f3250bab693760d1437c074c274205edf
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000005_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000005_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b75a59669e0927c56fab8874c48ee4495f76242
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000005_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145ffb8de95cb4076925b8ee843a26ad05e37202a576b0a29bc6ef16ce4fa7a7
+size 1536
diff --git a/redirect_red2green/episode_0003/audios/audio_000006_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000006_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4aa1f188b027ce5535e661ecb860e38f187d0f2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000006_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afcd3c5162e73c3a733dad85daf0b7562d69140406166e968d98501b58f1f6a0
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000007_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000007_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30cbc27df14a4cc1c8b670017aa7b7c949cd0825
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000007_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dde0188b51d7c6f752a289c65fdcc32a3da3f437800ae3aa96d6409824013c3b
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000008_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000008_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ccf1f03ea7394573091f2017a060ae99c01f2322
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000008_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45c1ec238280c796216bd9fc6404aa8d84d064a96ecc9196f03907ce78261f4
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000009_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000009_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ceb5ddadfd52ecad5ab22af8ba468a02ab890568
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000009_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac5fb3983d3ac625e31754de53713a4435f0abe8b2ddc8da9d7b3a6aefe245a
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000010_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000010_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c7b513ab22c71f45eeccb422cd86ba03cc303b8
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000010_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d1d71670d7e812f14190d872e7ce1c64be682f65e2d6b4aa043b6bc0b5812f
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000011_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000011_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..43c47b4a3d2903826af6892a672dbc170a142fb4
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000011_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fec4172c5cead86bb504e98053a889ff4768daacb73e97458740ff800b540b4
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000012_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000012_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03812c530ae2f5fe07ddcf3bdb31e7f631c2ff04
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000012_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29c4a4c9fd5277687b600a984b1c59aadee2f07c648ab39281bc018d471c6f7f
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000013_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000013_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22653a5e159a5b5b5948905efecdc8a8a0d47e96
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000013_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf940067dce20d56704241d75b5c448ead16ac7635fdd821e6adeb74e6c5cdf0
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000014_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000014_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b56c4e70a82433d7ca015351e7f3797aef3c372f
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000014_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b0ef5d08102c888e1068d34ba0f58bdcf5a2ce17205f21f5d29bc2aaf8044a
+size 1502
diff --git a/redirect_red2green/episode_0003/audios/audio_000015_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000015_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..838b6d7622062188a1c2d832e8abb4ee7862e665
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000015_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea80629bbc7aa9330dbe813647340e4f5aa242a291073197836a56cc2be5641
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000016_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000016_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..495ebc878f1b2fd89db8d6b456d22a9dd130ac35
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000016_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a45079a0e755bb365be76c002cabd3e123f3c5fe023ac717b179ecef8bc8a754
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000017_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000017_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60797de531004cadcb20ac89fcc0e5cfcff3c126
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000017_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4ae129e3ce222e22810d518ea0e4374f9f38fd32d55ff199e30de7f528fbabc
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000018_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000018_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af332a39f528dfff911c4ea2551ac6aef278706c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000018_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583033b36cf5264a3f157dbcf454308418d965c6a1172f31b576a31172ea3ffd
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000019_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000019_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c352975e64d9e0b6c6fe47e05137faa98ae4e91c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000019_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2869376cb04776a647fad56eaaea1289a92aea38c55cd9a8b0bf95e71558ac24
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000020_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000020_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d717c3e07cdc66e4ddda75750376fce6bc607ea
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000020_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67583c9df1995ed0c08b6c0d9c0984da8bcff7db61b6ae3551d3b43207546702
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000021_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000021_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eeee4b1ef0279b76d6421a9dbe41c142ea999873
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000021_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b408ebfbe4d7e836c078bf9ccc66772d6139daa51fdd111cc93423f9baa26b
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000022_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000022_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..982ee40aafd594540a1131b893bd5d8dad421e14
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000022_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:122b6a7f45f7b4e2fcdb2fc33ea64bb7c31183c62775b5527be21feb8e16bee9
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000023_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000023_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aadbf5aa37abb3c798e08f2856673ad7aabc71fb
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000023_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93993f259c2ccd1f6b8e4f62d211f689168c4cd306856e01a7a5967ce0d64a60
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000024_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000024_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..04ac69855424157e996e1b4a86f1d6b2150910ec
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000024_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aade28831a80968d33aeef530921a763aeea4a50a465df3af79d7c8de97efc2b
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000025_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000025_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20d13eca8dfd85d3256263eacf439b980e3be967
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000025_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b3b032378bd1a289d9bea333e4c06b3c060e4469b81111dadade8a445250d8
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000026_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000026_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c48a75bb77516a6217e44523b471ad89e50f563
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000026_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b38b2db1cebf12e17b78568f7d369a744f03cd8d3ae6f69743b75ade0272e46
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000027_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000027_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a67ed889bad9157f23fe01a1c471925d4940ce21
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000027_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f855ac2ce67ae40989eaee92623418d939182ddeafa283362057946c84c7f5
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000028_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000028_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2652262eddb83528a68bfc0edf5b82e4563ed71a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000028_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa93fb3c3c5a9a0ba48cfd2a05bd558b86aceaf9a3dae7f040da6c453a4a7d9c
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000029_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000029_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d89e5b11bc9d085f62b6343cd0ac4e29c2bae724
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000029_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7201c1897f06e870e7cf056ae87e5c9ce222aa99a1c64c46137a43e24eb69ecf
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000030_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000030_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..964f114d0f261d79544fc9af0254cbbcd10f6b6a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000030_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9aac955c94d2e7155eb4307f68cfa68f840b7963365d2e97ad9c620e8ea7574
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000031_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000031_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b28ee86021fd0bc5e3f8bcb2d8b81b5e6441767e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000031_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a9a131811ebf141390e016096aa5cd56f3bd5e961782a52ea877a9083ef5b3
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000032_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000032_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f38b06c9740a306af09474a1ffa3acbfecf53dc7
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000032_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:058fe584d5211a8b0272cab5bcf6e262dd7fb2a8318347b961ff0f1fa0293167
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000033_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000033_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5bc3625e01ab83f6f5ae6c27c973a70662f2dda5
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000033_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73b807fde12902d19c3e19cbb7c8b3f7dcac40d19b1f813d8b80f831d42836d4
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000034_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000034_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d18530a18215368b17b326e7a69ff2af1fbc3b9a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000034_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c2644e9ddaf2400478c44c1ea64d9940d508840d7260a64e5b4073c5cd4297d
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000035_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000035_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ddaec57d76cce1a4b3d44ec9e6049b68bc62eb18
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000035_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbb9327a13b764bf845ebb4792fb627d49852590378ab827dff94e93b1a1c13
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000036_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000036_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..db26024fd181ca5169ce63ee6ed05c57d2d8f17a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000036_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71c69c00dc743330a7a9cc5c83bd6e130946e61991deee16dd6bfddf753974e
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000037_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000037_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b93e6d7ed0e07eb6e5fdf00166efdc59c8ac9b8
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000037_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887c51be89966e4072980b24b2671bacc40a50a9e35fccd44f82147bcc89b27a
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000038_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000038_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8cc85a4bf2ec0092bbcedc9330ecc5ad61f7f4e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000038_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f400241cb3330a283b31afa8f4bf2f4b2ad2f26a23f4024bba9315bc259ad5e
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000039_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000039_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e4acdb0b7221684952c5e74bfc86015e31a9866
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000039_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39433e0eaa5547a0325a64b00253559d102b69f8d8b11afaf522be08339074e
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000040_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000040_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76e86a96e625633953e2e81ee2639a005068ca36
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000040_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a19163376ff9b5932e89f48761be6b35ed3a735c7dff00f8af85386e9dce8c
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000041_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000041_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f600cf3f3abace2e16eb5b33cf8b1f165e8853c1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000041_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f30ea737d67dcb9920792eeedaf08bac159839d3c2d5d49bcb964390b0ba3f
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000042_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000042_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f3a9b17598f3e16607cacf651fd7cca243dd42c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000042_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44e4df9c798e60ef47f34166a37f429b73c3630e3feb283920e0b608f466522
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000043_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000043_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..777dc6f0d957aa632acec09d74e162c8b5a18f84
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000043_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206a69857f49b158b6b0d1b7591ca80874fe0bd1a39919817d2fa0a287496282
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000044_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000044_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..52c0e10f652d27c8590cbb9f623338af792a9d8c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000044_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b544967c320a1d29c8924f5f3be7cfd5187c6f11bd4ee36bd78a50e67db81720
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000045_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000045_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e9f0637fa7bfb7bd8df3f90905cbb8afb84ed34
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000045_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73ada7289183b2f6c41a7d91b03a1e5d29c59282ee9a1c3b5f6040b0beddef89
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000046_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000046_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d237324905d6780a0cb88e420ae49fae5da0fd79
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000046_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5a43404ee7d70326714f661ba4a021b150b93f6b9579682c79f1153b63def1
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000047_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000047_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f49c1ed1382f9d6f5c2e31f9f316c8631b3b1724
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000047_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5022b3993c2300427ac102d025269d30e7e7916fc99cd7092d63503c753c2e39
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000048_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000048_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..322713d47c5feeefc68d7923d75c19230c6860ae
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000048_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12619a734231774c8c23b2da0a10e91739776c960f4e3335f22b9c783454ff14
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000049_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000049_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc32afaa92569ccc160e77124c3ea78688c20219
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000049_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d14f0eeedd5350d3058d1ad365bedcfdc6cdd3834d1b8b1295f0d7303f4f43cc
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000050_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000050_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..940b99d10a320f3c4823dade16fbdd98c9b49e31
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000050_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1d70f936de3212c03ea41afd6e21080ab5c9eb9066eaa52de6e26970a41b2d
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000051_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000051_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..146e04a9af3cdbc91ae5e5dc870b70f94fbbdcc1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000051_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3c8a9462b029932a2b135c507cc415fa35541593f5bc551ea40ef8b4a2d73f
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000052_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000052_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aedd4a2ce1b0dec13f8a068d5a876956e27a2404
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000052_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c13bce3b79352662cb9ce6ddc621c1f4545cfe1e943b3d0f5482a09145558e2c
+size 1492
diff --git a/redirect_red2green/episode_0003/audios/audio_000053_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000053_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bd4fe6677003dbff3819a506b5accc30f98b7312
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000053_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a23f1f235486e434372c320422b65e1ccbb9e0722ae565740fefe1b9c7574957
+size 1250
diff --git a/redirect_red2green/episode_0003/audios/audio_000054_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000054_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba2fe7676ad9844014298d87518ebeede1532027
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000054_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129a4df375848b5c3d80edd0a11ed547edee2ae402f356c85945a3fab3c53f98
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000055_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000055_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf40ca26b0c06fed309d3c2279b4f43f607cdc56
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000055_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:973b748a9d713d6d52cda838e91d477b84eec8fc1bc3b96284921bbb1a6af1d1
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000056_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000056_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e697cf8af7279f9e3911ee02307539bc3f1fb2df
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000056_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27a96d3d072d677557ced1883617d9f2acfaf9eab3d455854673d7b7d9b5724
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000057_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000057_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e7825a248e57123d733505319ff553b8cd179880
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000057_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e5df56cccd6c4b07d3e1723c8ff0e4cea6f7948b54d0380e5d25fc7d2a4895
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000058_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000058_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf7579cda4cd826b49ed820bfa1f5cd28265cae7
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000058_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ef66c1340019c9ed66f552a4550bddef1edb8f9d7df86bfe25c30c35291b87
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000059_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000059_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3f1a9030c9b720521584426f4b354f65889309a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000059_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca60baed7b15f1f0c5cbb2bf62daea26a1d8388f455c26c37d7acb8bb4343ec0
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000060_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000060_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..52fdb6b151b94a19cfb0f8413d57774d975bc3d7
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000060_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec3958c7a0224cdcf143629412a7c8d146c03419c47eedae7022fff21499c58
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000061_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000061_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..db04879521dadd4e738b7d5fc18df160136f473d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000061_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f15a20f1d73de24706f85d741041e541e97c0d42ab90e4b1cd8e595dfe4a0c
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000062_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000062_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..779eccb61c11fb30b7e6e452995eecb079e4deea
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000062_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda15919e81c4757d2c4fc10c56d58ae9596e8798a47118abb1fae906547d7e4
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000063_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000063_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e58563884b5f4f9de5602994f4e142d13c7ebb8
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000063_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf058505a0a09705d458db9ab8a6be80f31ad3e46e1990e207fe6df86379237
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000064_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000064_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df3f1229e331df5652a2402e6c31ba3be8a5776a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000064_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c9573b120642bfe896881c0e7d5232cbb4be3e8edd53bbf9244a7024938d3e
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000065_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000065_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9808143e6ebfc95adde917745e40bc16713ac7e3
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000065_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ad96ff5c10861dfebbd1c6f2e4978421bfda0c6030631b0b1e8ab8a41c0abfb
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000066_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000066_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3afb0f9726df8ff4fcdd80a1e8ed3ce25d81ddee
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000066_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:136b9eeb225c874afd681acd39c929d1d63592218985f24285b1590b6354459d
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000067_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000067_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf87a54f07ad91d456bce72fab9061b1919fbdc2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000067_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17c9c66fa0597f26810dd7f8d26152a8c65e043f2930eb56996d0b0fdf797c9
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000068_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000068_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c3197f35a23511d94f95ecb7db9568cb0a3d690
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000068_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3955e9149d8d99a4582cfed1fdaaeba4fe4f3de11e644c76c1ac74a3afa6ae
+size 1226
diff --git a/redirect_red2green/episode_0003/audios/audio_000069_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000069_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9d3c5da537f67e87f6b2bd31f8a4244838b50925
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000069_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0104316cd82c3a014b49161561209a44b4da481ccaf35c50a6519f9ece3ca22
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000070_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000070_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8692d95698526c68dbe3cc07689ed395ed6d69c4
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000070_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701d9c4ba48d554f429579fe15ae9aa770273f5f2568d5021b162bd9689cf5ce
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000071_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000071_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f09824af6472925b38ce3bb86242d4395cc9ee2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000071_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82422e09dc9a9d8eb6bb3477f220e9e0464111495a00c5abfc453a390d693117
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000072_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000072_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c6c71a683f610bcb0015555cfddd6ac4dc93212
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000072_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59de88987e0eec28436b4935b7369046764a4ee0db5f82c5f306488e2a9becda
+size 1782
diff --git a/redirect_red2green/episode_0003/audios/audio_000073_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000073_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..927fe1d567ee7349c11fe433f4237acd42cf86cd
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000073_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff99f588418822d12ead4232a2d0f62c4ba8d16af10ef326cfe9a25d39c16bad
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000074_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000074_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5dbe72c4bbbc74709a7f65d4b9c0aaf9800b4cc1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000074_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3985b7e5d78ba560e53d0ceb50faf5e678e9a3ec0e019fd78765c6475ceb063
+size 958
diff --git a/redirect_red2green/episode_0003/audios/audio_000075_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000075_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2a222ddcaa6abdd472021f0c92adeb9d3f3bcde1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000075_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:267afa4bdf109d7b3f1602fa9a646166077cfb7d46ca09813b0db399075184c7
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000076_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000076_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9012589567075541a55b9d67c23ce98dff51acf0
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000076_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92c35c3f1f98ab2bf4c75dff934b2212540f764ace0429d9984e0dc428edaf98
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000077_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000077_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3279c0cb11e7da875e7294e905737f8e1962f1d6
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000077_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d5313ad27f77072c625f0ccb41da647d47494eacad1853dff3a419100cf751
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000078_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000078_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ddf73bd104f38b9ff5763041b5debe25e917c785
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000078_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc3c20bfffbe6a3c369df479f6f2f824797fba31d1ad524e5253ecc47de3924
+size 1230
diff --git a/redirect_red2green/episode_0003/audios/audio_000079_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000079_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..59042a8f826cd1ed1db89cef41d711030a1daa91
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000079_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac637ed6e92266f5b0866e59542d66e04bb07c01ba5e682eca37bb89c7cbb9e
+size 1266
diff --git a/redirect_red2green/episode_0003/audios/audio_000080_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000080_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b54985333fe01077e826666fc87e29ff59e02ab
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000080_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d70378d19e7e4f77a3c5763746bc2d59981adec26b431c393d71da1e90a9442
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000081_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000081_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2866d6eac5b64d18774aeeeb7c413116dee20b5c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000081_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bed0a69a12bce6b2e33a45ee0762c1e72cb2352fc9591501b907ca1eb8a9ff20
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000082_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000082_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ef5796813e8704e9ca815c64b2587d0f6d9fa8e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000082_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1cda3db3ef2850f6a67749286127bc0fdb946e867fe42ff821706c9bc843fcd
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000083_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000083_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f853961509eb407328422dbce58f71f23ccb6f50
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000083_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10df442a1681223d40454d8e2ff4edc45ab3b97ace3a09d8b7ffe5fbc62c6425
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000084_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000084_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..edc7162109006b647ec83cbe43f74af35cb12d39
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000084_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2260a68597f3296d68d78d007c3745b54586eee357e5da7b6a54f2d5e559cc2f
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000085_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000085_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..885218ff0b0980aad102bfcc0a5b87518c41453a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000085_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc56b5902d06c192b79bc4e46259fa2c67f8a2be13534993af411d1f92999446
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000086_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000086_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c6f8ae1582fcc75a1c045c35d16bc9692f9c44b
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000086_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4158a496fc1aead436b08a332b6a8780e7defa86027a919e7912985da6063e
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000087_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000087_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72a47bf555dde790dbf7c9555bb4eada6818dd4c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000087_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:608fb384a8eb4a6a7f63824d722b8a8eca5b4fb76dca03b4722e51268fc8dd4b
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000088_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000088_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..812791d0179b316a65c59ebca7e5728032a268f3
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000088_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273e29e4f8c34be06bf70aec41c421729971832726ed7c03277a33cca9941260
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000089_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000089_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..caaf66382bcc6e91f80e8d0444c8bed72c06d629
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000089_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b3cc683a3d24dc2c27b94dcf2270fdaf0574417a5e80f7c1a4d0a16209336c
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000090_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000090_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6bb162879511b0d3da29b28fd346b7b0ad0a5d62
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000090_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ef7a3bf1a4cc31a7b65c0f646876e5841e71f65f7ea7c04114d814f60cb55c
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000091_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000091_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a49958129b349b6c9a6b3e4273d8c19e0cc144a3
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000091_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba6ac49511d91182279238a266e22601ee7fd1cfa14813d1bfd8013abef251e0
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000092_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000092_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d95d7ce2f2ab05b00730bc6a01dca8038d629901
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000092_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed594bacbe46fc57596c45fb4e0e30178a5a84382dc27f8a8348fbb88fff3b7c
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000093_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000093_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4fc641aa03651b38010df7349a198da158988527
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000093_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa6699a99d4519e6b36f99a996f196945e15ca80a2577e1f93bfdc8f0944028
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000094_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000094_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20da150127d2984df4fc1d147dfa0417a65558b3
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000094_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d5ff53b7c6361cd968afb242518589f3f56625d5f527d9cab561830f7a3e2c
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000095_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000095_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b539beab3379972fce441f2bd4b250f07ce3bc5d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000095_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:043290d243964093b326240a9f2ace646bab28d4e4cf2f2b267b323b2ebcdfcc
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000096_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000096_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79d1b0a8b2a642c74338308c76b23514d3bc6dc9
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000096_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e925c1251a772357ca7f08bd8174ed5ca98e5443f534622a7b5950372e120cec
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000097_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000097_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..21e318054022adafb890d0be9dddfb3cdc05365a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000097_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e836bd510a9375bea13556a4a96a05bb82d4dd6134762fbdc121eaff321c9113
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000098_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000098_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f782a901476ef3ba2f617ee7c2142062f49d4ce
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000098_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2c0616049c1c63c2cdb6daefc6a5c85c44ee529f8100aa5c36f185f25a9a56
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000099_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000099_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f4c6b61788a99b5e144385fe4bbc3ceaf2781282
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000099_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78869239f81ebf5211d81ffd422da83d6f5c78f32163cdb11315db82256cc572
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000100_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000100_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7e273b666812170c4123630b2f9ea3723fc23f5
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000100_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:382b4fab7455dfd8a2ff7ac0819f33382ae7324598128826c3796c1ca61f6c37
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000101_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000101_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e3d7ded6024f79792c6187aa46a8075d4c742b82
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000101_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5688d7bf4a5b86b49bb1d59cc73f062cc7906617951580277ecb032eac7ffe5e
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000102_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000102_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d84b441ae0b26974d63c6ca3242244654e0112dc
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000102_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c295e60a94560d34f37faf5dd6e388ed195ed0c3bc4f967e2983d3fdfbe772d9
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000103_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000103_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b170fe50c6b5033afa35ed956ce0f85baa0d7870
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000103_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a8517d27f44dd91a3c40ac8f25b3d3db08116eaba0fceb16fe5437874edb1ba
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000104_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000104_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a7f3cb3914539619074126fca3f0835611fe14c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000104_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67153e5d9375db3109eab84f50e6b418bfac6f38d90f1f6e1ec8b8edf59ac49
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000105_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000105_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5fd38b104406ddbdd13faaca70e24169eeb092b6
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000105_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5449b2cb7775b199f14e1aec45f15f3c5c9bb06b555e031e0eff8dcf21f984
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000106_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000106_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..699ed20a8891633111cb8fe0ee0b8192e0d6ba5f
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000106_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993f97d206b362f9a4b1db596a7c2a5b8900edc43c00971b47fccd3dba8ede5c
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000107_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000107_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2209aa111f16206e094568c0339e2e51f1e4bb0a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000107_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44f19d318aacf5e7d98c7de688758999141d4bd98332057ba3f82cf23e068bf
+size 1514
diff --git a/redirect_red2green/episode_0003/audios/audio_000108_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000108_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7df208377e54cfbfb77935e8f43e39c14cce1157
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000108_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a700431ecdfe83c4d1157bde48b5baec0b8344c2c3f431bfee2ee2b9482dd9
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000109_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000109_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe1c95921f6368cc80bc6e6f3066741eabe25f99
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000109_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5526b1fd1867131b6e72ace00f3c2889c0ca8c00defb216b052fdd90073b569
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000110_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000110_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a12210894a3a28efed6037332aa2d0c4fa2597f6
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000110_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0074caf464c92b2aff03f8072e48107f0901da30c726a06dc08d6f97fc339f6a
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000111_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000111_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28001cff9bf8c7cb1a0039a20fd60dd22714734e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000111_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea8e4a207487f9e90521112626891aa32bd7d215a513d7ff4ea43be690c8921
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000112_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000112_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3e1021fb58ba5d08ffa2e34ea17cd304ef8ee3d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000112_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7acdaa78556563948920c59a06c6b3459da90f7a6aa8d7f34c5d5150371b6e15
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000113_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000113_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff5b3efaafd7a7aa780b98665a9a21b4ea560bd7
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000113_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80490a6d2d9ca0b98b9df45a0e28cc95c19d2ffdcdf26882da52f9fa280b407
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000114_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000114_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b521e73d49a8991c581c02e4dd7890c23b94cec1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000114_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44515916dcace6fbb13077c81c978d9a7afe1c75e52d80456efd54f24103e25e
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000115_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000115_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6fabe5f543285ec21241be3e627188a59864683f
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000115_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deff421b528b03efc2033d29b776b397a6efb1718cd1dcfc456620f377dddf67
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000116_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000116_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46980275e0e9315df2479f5a1d2d9987f85f257a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000116_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37e6e5c199e1c13f10193cf3f7bae40f940df6582f52952c5a622ebeb519788
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000117_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000117_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f285600a984386acb0c449d64f9bee9d045e644
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000117_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3199f84bd29d8fa96fef249e951ab56502166a19992f33c2e8a7028f7c9a38d
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000118_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000118_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f82b528fd9b3557301108b07e938c83c6826f5ac
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000118_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11cbb8b559f9fb08d279dfd6692e04394400dfe688eecbeb08eda0979c582531
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000119_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000119_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4190ca28fd42a28e7ad561a69d4b3a13d90ce8e0
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000119_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:defe89243a597772b10dde8bf4c16b212f4a3cd650c66efc6e57d1e519719ca6
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000120_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000120_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9750222a1e388b27e924470cc7bc045040813847
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000120_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761d1955a243c4258aa1fea988cd35ad1a00d230839fcddb68819bb4d73a8634
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000121_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000121_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..add37e54d07b7faa634887a21cc55657fe1e8c9e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000121_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c34e9124b50794c1094f0cb51dbf7ee95b6aa3e4507174964d64758a377812a
+size 1212
diff --git a/redirect_red2green/episode_0003/audios/audio_000122_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000122_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf6aaac4ab7b07502eab2fbc8e3187cdf7b61e1c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000122_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c802e28fb5d64e8ad882a2a39f2dff86866dd80c2ff1b4c853b82c6345b65233
+size 1252
diff --git a/redirect_red2green/episode_0003/audios/audio_000123_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000123_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8063e8a567f38afbe02e5360f9e08a207a4c39b8
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000123_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc70b4ab32372199d22777c0721672574d5f191be16f3deae2562093aa6c31c2
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000124_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000124_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f71bc48c35a217078d2f830e7f64dc1aba7fd847
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000124_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f045ed7b36b04df24fe427e6793a2e9dc4e3d6e7e1c86a5952cd48b1c9d337
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000125_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000125_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..548c85e6a6c375583c954d8574e96b22dd9723c6
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000125_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b70393c04bad8925feaa3a53d14f0e18c6566a2d35ebadeb5688a8d0028d380
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000126_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000126_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4592029a25c51d3435fe0cb769d8f5626d15ae55
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000126_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5d56cda32d8a7d29c60081a31cef167bf5a10b207f1f42e38d35d55c176cc44
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000127_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000127_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..90ae12f0d01b0d5763cb87dbcaa8acfb3d31b41b
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000127_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c29f552174e6ab1aa69a41633fa89abf5cbe7f306efebe9eb33ec34ebe3400
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000128_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000128_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..addefadd1d25bf7e18d87bbb121253fdc830071e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000128_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6054f4880ca88b81f3efc38da529b7afc33292c58ef493edac0fd9d0059ba652
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000129_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000129_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2a1114d108fab83e86dc59a8904c8b98e0a07cf0
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000129_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a44d1b92998ed64f34e6ea2bbc46f3eacbf96ddd12f6d6c257439d9cb50caf
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000130_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000130_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36fe9bee33d7523a63a41b033c06779e663f71d1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000130_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea2e8cabfd3fcc74898af97ace8669b0d2fde6da7d83412aef8a4c0e804f37d
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000131_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000131_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c771a8e7581978fcf15e1317bc37b6dcc2b50c01
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000131_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e78fc355807c11899cdd3273272ee65a33b630a548d486ea59131e7415c0ad
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000132_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000132_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01ad708d943688c61c9c92096f9cb6b9ec01d8ae
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000132_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998841597d416601cea744499a8e1ab16777ca2b1bd47b7c067e20450bc16af6
+size 982
diff --git a/redirect_red2green/episode_0003/audios/audio_000133_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000133_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b18b4f7e60c56fcfced743f1bc55849d10cacf5
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000133_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72cd54587aaae999cf81fba5f6211af84c008674c6a11db3cf74c8a36ccd7f38
+size 1514
diff --git a/redirect_red2green/episode_0003/audios/audio_000134_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000134_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0299f0e326708e222e586a2160e3c3972757257d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000134_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e67cdcee16abca09f107bbfec9b02613566abbb2640143f63d75c0e04216fa
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000135_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000135_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6682077f604f3a20ab664efb49385ace67b6123
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000135_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5fcf28ee28830a32b53e5948149394d49ce22df09f3da4cd177795ab23b1337
+size 1246
diff --git a/redirect_red2green/episode_0003/audios/audio_000136_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000136_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e86c47c61fb8b3536639e711baa7576474fbbef
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000136_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e0aa76386ce5624d5e3a7caca8655fba3a2c380c8c3624203e8c1a9ce5c704
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000137_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000137_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01f6dcf74e87b758680372c951884604db462439
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000137_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b32cc7cd7f5bb05549601653fd5f3d3371690c58583c2d4ab47e7339f3a064
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000138_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000138_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..564655171706ad60418f3b8ea777a730c50638fc
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000138_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb3016bfa8c7c551a3c91bd635a34bfa1e13ff0bae3d6d957e4a22aa869163f4
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000139_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000139_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a0c66bbb888f7fda5141d9b8e4790c30a4a95af
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000139_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a30026dd2333e24b33dc96f4ae7a5bf222b4f7ce286a5736f2703e65d113a11
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000140_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000140_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e9305f352e92c47a277410d8a1d30458b71ae97
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000140_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf757f7bd23f679684091366f0f4db7db9c0976e05c011cc958becdc208535cd
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000141_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000141_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..14517e547dc062ab1168c1d8318b3cae4a3d6e93
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000141_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8040eb7967ffd6a6e801d417871c2c6731c432761fb24e3d447aabfa47566ed0
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000142_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000142_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..378f1ba52fe29f80b6f1e11dbae282bea7e23298
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000142_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7574167ecaaa15b088df844b47d172f4fe897e709160bd25074c359cf9f9c8ea
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000143_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000143_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..75fc2e895f0c6f9f96639c1995b61b359691ff30
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000143_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5e11da40d914f5c1bd93015168706b665c27e729e8e7f7e5bb65c52e2c92a8
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000144_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000144_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fbe33e1c737f0d0f1bee030c69fbda5f7152cf05
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000144_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6736f8adda4a31a1ca8afc3810106131076bca554de0942a8cfe35e7382320f1
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000145_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000145_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6e810ba397dca2864f583eb87eee128642e29e3
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000145_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9fdeed4edc53a441f8a2dcb9db363d336c3647e5939edccae29461a27594509
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000146_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000146_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb7861d5b012d593745e2c8f7e8df5ea894b84f0
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000146_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f7a04286357d937369eec1bc086088a54424f1f91920a8ee0620cc4511a180
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000147_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000147_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3211dead4fd02825755ec17d6ecfd21380b92cf
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000147_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fedaa4977c02973a814f4ffa8a510c0bd831b4527eb650056cf536a1155ee87
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000148_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000148_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..476b64e5169f803838dbb5633cb8c67fbe45aa5d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000148_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaaf0aa62349c57d7eaa6dd1575ad73e8b6227d47e237d6eccbbd5110bd8a001
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000149_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000149_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e2794ae73cd4e05f83bb2f0ffaef5268a5ebcc6
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000149_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd81bd93147813ad4b23d6c00a38371d420e2754fa26f57942b676c59aeaa447
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000150_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000150_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9cf11c852a28555b6c53c52717e3a6a82e2b7d9e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000150_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ab8e2e7c1e5ccf546344e4dfa650adb8066343e8628e174645a9747256aec1
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000151_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000151_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be94761ab2499b8990a4d95e5f394bd8f5e6ad57
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000151_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7be139d3c72422c2b7727b1d8a0c1bcf215f2cced43daf83e0729419005efea
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000152_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000152_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44029a87c187e8091ff946a071a809648065b0ad
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000152_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa174976479b7a46d8d2ea5254b6e2630f602ecaeff04678bf1f9cdf20244b2
+size 1230
diff --git a/redirect_red2green/episode_0003/audios/audio_000153_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000153_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf2a89117df6fdba5b9eb0d720536878d29becd8
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000153_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c590f13f20f3ddaee5006adad53a9eaeea8a69aacdf85e7c311bee49c7e1c032
+size 1266
diff --git a/redirect_red2green/episode_0003/audios/audio_000154_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000154_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c066db41503374d5c6abb4cdb09d5a8d1894e971
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000154_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f8c1afd711a988ca2e48442e2487b86040b05287f459d2e950fa50bb069d629
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000155_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000155_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..399e367c68a9c8143321f5181b777ba82823621d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000155_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b4172e3f25b1f681c44992deb905df99d02053a4725dc32f093b589a926292
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000156_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000156_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..56e2070cce0585813d1872d9903f19afb13342fd
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000156_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3b067b96d81d80c8ce5a1952b71cac01397cbe55ed1b550f0ed90cf901bbca
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000157_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000157_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02775cd13412bb5d499185a89c561dea9966e820
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000157_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad3da621660598c984d3f2595114db84aa06d52f4257a7de60cc16838d31156
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000158_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000158_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1a2e94ef1232a64442cf8967a80fd7be55b1c0e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000158_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5da04752f8a090f4744a0a8ab8c9dcb79e4d36c75bed095d47a7c6048ed867
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000159_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000159_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7640cacbb946ecfb6c6b6439231faaf2cbd537d5
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000159_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fb6be19748d9d50dc8c6cf6f813c2055eeb59fca2940be158c21e6783172c0
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000160_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000160_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4103ad1c03778324549c9a17cca0c13b3cbb31f0
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000160_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3303ebd676e2507d75b6c68cedcfc4a5076045d82a2edf0075ee70aa9638ba
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000161_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000161_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..29c9b3a01a4f0e5f6cd7c4cdfa73a799893abe19
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000161_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e8e6aa3ec1ccda4659d2a52bb41e86bcec0300f7d856b09cfa4c4223a04dd4
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000162_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000162_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..47c66115ef79503e6ff50ea66af9015da9f4cec5
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000162_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7bbc607835f1e2ea28945e985e95f35b6bb875d0e839225b542a32f961d10e
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000163_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000163_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ce3bf9a6e1e538769bc07851138d03292159fe09
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000163_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa57cfc78b241ccdd3cd53afb101072d7e94d193d2371a56fc3252726f74288e
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000164_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000164_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0898af85547b7ea68fb96df8d96fce7465d7c91
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000164_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ad4bf1056cddd4245b9984032b6dba809c2a435f80282a62569945c67a0230
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000165_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000165_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e41b871f2f99372bf4a90beddcd1a754442c28c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000165_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3c9e65f93762c5e4b6e031f0835153287008cf3765889fe63d23611997ca4e
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000166_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000166_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03b988218a2ca4c9faa9c0ae5c8b3d79cb8498a4
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000166_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c80ecaed8e8dcb0aab79283a625c1f5ddd77f4d5cc6cd2fcd1417c509420b80
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000167_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000167_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc3853eeec060f69087e80099ab54611e7cf5532
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000167_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c863d6fdfbac690ec75164dd752302ccc1f42982307c8fb9e5631e2d752cbe
+size 1226
diff --git a/redirect_red2green/episode_0003/audios/audio_000168_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000168_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..daf46b86333ceb41bc2a7819772c15110245a1d9
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000168_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77bd0ad83a58881eb7e5f261b15a283a5a4d8e445eb5cb09e1e16288b61b602d
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000169_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000169_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eafc3baad04cd6e89b28250adccad32deff1c97d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000169_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083ae461ffed0e43f5a4fbd7a29c5afb3a3abf8a80889ebcaf6b6cdd0c2eb645
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000170_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000170_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..194676666edbd88646db1135a5a4e4262e281891
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000170_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4418937f2ace6a44e2aec6b810f44461ebb5dc9b4ceb23675b6de5967d39d1a3
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000171_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000171_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c30047c004966edea888ab998468a0055a0459b2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000171_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0882e70393e309e3ed68a158366b7bb5cfca07f2130f387947ef95dd8a5faa7a
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000172_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000172_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3dbdeb47c625d0f0436a0ff8253d9c6e12433daa
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000172_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e606294759ae5f3d5e06c0f253053d0856c479a46279b6efd252f4b3835e6dd5
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000173_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000173_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af7cf7c941a77c85f3173034b982b1d4f54c229c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000173_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3799943fe9b996527dc2a16b737f68d8c5315bc9a2f1759376932b21eb9989ae
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000174_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000174_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..453b02bd4ca759a8d9dba2054f881e6765827115
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000174_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db09b884402e0ff0f6f7a758d71accfeb19b2d33d2989ff7118f381206bb0cdb
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000175_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000175_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8478232d28adb387832dfb3cc35016ceb6153ffb
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000175_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1be9a6d4014ee49318ca6b3a68e727a72b6f6f4b3e990a870d68bceacde0e2
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000176_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000176_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a5c477eb78d698a56ca307da62b9268f89fe9ff2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000176_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1138d15c0615e6a365c423b2906e486c118e871397f47880211522265e3a14
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000177_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000177_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4e53b3f14406ca6f28b88b0e9c29533e4a1a9da
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000177_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32f52f97840b62af6e51b7a1bbe046147bd049f904b4e39414c784a900c249bd
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000178_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000178_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..822d6795d733415452a8e0ab459d2f38c239998e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000178_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7109a42d7379a4eb43bf06fe594beff94d0af6f2942633b483a4cf6f52c3b0b8
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000179_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000179_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..005649e403509baa88bb3a6b3f04e1477f587018
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000179_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a424886dc3cab3bbc063f6c884718576c891ee4e8d8b7166e41378f23ec047ec
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000180_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000180_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f5a472f469317813ec05fe110d8c2649f8cffd8d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000180_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43494eb7d6a7061d5c4e5d5099867063da00970f0c09b72564b031c06306a4f5
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000181_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000181_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25a3aa401c17a752df47a43e42ed9fbec82d8b81
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000181_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7938838f5aca3ec1d3f0fb56f3fe24fab7b80d3c082bf02ac14b94cb68d32ebf
+size 704
diff --git a/redirect_red2green/episode_0003/audios/audio_000182_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000182_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50def88d9149d33970b464acf10608a8bec041f0
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000182_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465d4f70de8b13b4200fde0ee881fb21668e7d7ea770a0dbd26f4767c5027c03
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000183_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000183_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9e6038d48fdd51fb3527d1e4bf4248e9833f2d88
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000183_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b7f1433d343058f1104229622a21badf51bb79ac2366d9cc80f6dbc8983fde
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000184_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000184_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea608428924b13329ceb2a0b995332bd7a98a37a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000184_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a080048978755a43ae5bcee32491bf5caa068547997b06c2650f6585df8a2488
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000185_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000185_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c531b5cef7214f5dd90da6acaa289e5893d15f4b
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000185_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52934bfe0ae450d74ae872f19ec3e2e766b153eedc68c15e3d9f298b444bd5d
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000186_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000186_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dcf7525873c31eba65a7dfc5cc907104b919d894
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000186_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04f38e5936a00009d925a43795dc39758fcddc2e0d4148d46ec3c41d49b9e8c
+size 1488
diff --git a/redirect_red2green/episode_0003/audios/audio_000187_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000187_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f21d40e2ea9a208f1e35527bc9adb90f18266c88
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000187_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:396aabd4e1bac20f39ed1cc4ecea6cefead1290a9516f56fc168de76f972a40a
+size 1240
diff --git a/redirect_red2green/episode_0003/audios/audio_000188_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000188_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d79e23e4ab6ca43ee5280e996a12330a376bbc31
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000188_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5832730e175d1edd4a91c6550276d1c8d31e4abe5672d4ff96c9df4bd2c0991
+size 984
diff --git a/redirect_red2green/episode_0003/audios/audio_000189_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000189_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7749ee6f916217b247793aac11d944eb3c52d3bf
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000189_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a4d4e9b5634fa778da76edb62a631cd6c106279d6c2654f64ef17a2fe4d895
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000190_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000190_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..45e43b5ea8b7b97b07cf552098054ce7cd8c6916
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000190_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:222b767ede33a6686422c81fc55139d72ec5441b53ddb625d188e85edb37c096
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000191_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000191_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae8a5e597a96f1a8b7bc03004bab975e214b9c0d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000191_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af91b2f8c1b027fc0b929a52f658e8ed7873eb8864a03972aecf30e650542035
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000192_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000192_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..47ecafc2543dac7447faefa8d35549cd93d2ea9f
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000192_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc3d7db6264fb9395d24a88f4612370d8a16d04b82189ff0b263d2c3aeaeb07
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000193_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000193_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..35f670daacd04bb2409767b1947a6297d8a7ef2d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000193_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7694739ac8671d3dd478671c3939656b6b620a87967b3ec0eba086cec0ffd204
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000194_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000194_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..67310dc056aeaf208abc6605f8bf23cb2b68933c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000194_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a47f284906fa011535d52c639204810bd730772c9bb92a987f498fc49c46b25
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000195_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000195_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a262fb11be4a92058cee42833b22a89bacecb567
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000195_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c961503f998d91278cec27fcf55d80c111d2ebfde3d6a9b565022503d9739359
+size 958
diff --git a/redirect_red2green/episode_0003/audios/audio_000196_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000196_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b7a6e64881c81f54a0f62f0e940bfbb1ecd1091
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000196_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af0bd4bd89ed23f1a3559422839e8fa278365d1f1e3cc2a65202f4deb657ffc
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000197_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000197_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6cefa5d48961ec95161927f30560fb3f246bdbb4
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000197_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d668a560e05a8ec6a258bf672e4792aa6e9052b087b83048346a88b4a233c1d3
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000198_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000198_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..666b93776517f27f1efc2b1f9090984604b27d72
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000198_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d82b9cc6fcca3b6514f7396949418c0b4709ddaea5d918f70f4e4f3d0a79c786
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000199_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000199_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..85ba62a686a8722e8ee79930acfa48ce8ccb9e51
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000199_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4592b090ab8410ae0924b2fb297bdc0a140210eb9611713cc8010c6ac5b08164
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000200_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000200_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..43ec43d1540e72e930493c178e05b6fbb3814ab2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000200_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1bf20c19b1da1186e92699d701deb2caf2e4b7b88e51c10819247a159474419
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000201_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000201_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1151656a64440b6402a950cd499b4f6b98e3004f
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000201_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd03e6bd826be01ff84d71a7caa079ec0759197d057830062f5ed958cb60aae
+size 970
diff --git a/redirect_red2green/episode_0003/audios/audio_000202_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000202_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dadec803f5df5973d477326e9fb284eef771e739
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000202_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd410d2c54114fd4f885adf8d85893192679379573f8b4bacf19880e700c50d9
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000203_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000203_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46068dba6f3935a51797f13c24d69d3e5a674bbc
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000203_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4b8755b03a5bdf2fd8db07db83ac030671a8c7429f3bf17791bedb5a207ada
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000204_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000204_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d89dfb337cdecbe0a5d48f2fbe7ea3ef7b1e44b4
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000204_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581cac20d4a0b0bac548d6d0df19da458bc5145b37fe2a8a2a0934bcadb06245
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000205_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000205_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8bf3485ae695a48b43e1761fc6c7912ce38dc533
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000205_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee75283fafbb38b4f4c68e4837f8338ff78d62d837b6176cc4ea77fa699ca234
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000206_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000206_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca127a11b9b4da77a0ebd2f81ed923be52c8b40c
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000206_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:442e1378c4b3ce7f9148ffb6373929bcffba43d3127d01470c2de46b4fdafdc8
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000207_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000207_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fcc3dc0aa3561c5e55c30ac58c11f30211c813c8
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000207_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e927ccc8a9b5ef9c7231b93353cfb15fe74cef2fe1ae856dda84159d159cd675
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000208_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000208_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4da4577b9514048e0b54ad53a0497bcb417963c4
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000208_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b756b26f130e963c2cf23dc4773e2c1f6976310471e68cc0e390767dbdfeb5f3
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000209_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000209_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b266c6242d5e54dc964ec56a053dac710fb32159
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000209_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f0cd48da683d0181c899d0bc34cade176e634be14dcf159248aaa88372a53e
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000210_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000210_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..80e720cfdef375c973ba6cf8af3bbe04f8f5d40d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000210_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ec7fcad679ff020eca945402c24783c818a99d00df4a6e4657e41bc1725a93
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000211_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000211_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..051457f1f87a76ad9373dfe06a08fb4c9925a426
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000211_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c1d3c9e983da697d240eb9941ea76736a04ea099f3565451878f79abdb8370
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000212_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000212_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c058e4d0a58e98c8c2549479115be4955b808a28
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000212_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c831d221a60331c00526d1cbf6eec561d482eba897896661fba8572791f01fe
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000213_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000213_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..376d25f51587fd88ba3e70a80418b0ebdbe711e9
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000213_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16572c4c93495ac548d2517d8bba8af7b9300543400ff5bd84158b28cb4f35f
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000214_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000214_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e11c6d58ace5554f61ee026169201cd41386610
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000214_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c166d1711435302dbfb40d933ba976f3bb7113d4b8b7516cfb5b4d4825a735f
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000215_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000215_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f53295097fea69373897b053bfdbbdf2c0d9940
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000215_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770dc6e7fbf2931e528f25b1a2b7f09d023e4c1c4224ebd5853d0078b794992f
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000216_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000216_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2090a7f8ae156466ccdf20fea0fc2c6dc6b97fe3
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000216_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c5c064659075b4d2ddf20ffcda3e2f7dbb0a0f1a6c1b871ab23f3e7f4e7537
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000217_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000217_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..29d75f190ae015cb4c33854a32baae23cc6c1b57
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000217_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a4545814e7f079a2bbdb208bcd2dd84a1aa44c72bd6ba70263951bd53f5efb7
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000218_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000218_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b7a3d2c37659490cdeef94cfc128d125ccb17063
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000218_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4c5d3fdbbe422c3962860b0101a30f27fa1aea7da77b9c9f47f64e21a6467ee
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000219_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000219_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97738f8b348e1b5e3425d0db9c527d72e745050a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000219_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7af61fd1840ce968cca39a1dfa13c8039d65d0b079b6352d8546673b00af25
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000220_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000220_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..afe9b2da5fd8b361b9ba2685750e3274972cccf9
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000220_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1b570e45056d762d83a0e3da85a19309810859552885994fd30a0441dbb0f1
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000221_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000221_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..298704fbe23cc1094d691abb0a7b7242f89c1f08
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000221_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff3f1a11ecd5881e050f89370fb8fe7c8af038d40a1af347dbfd2815e350acce
+size 1514
diff --git a/redirect_red2green/episode_0003/audios/audio_000222_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000222_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf8539f21110ac297bc75c3ee0e205d53b034736
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000222_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10b4687d50d00485305d972aea501da541edd1d38ceb960cc258108326d53523
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000223_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000223_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1ec03f53c67235441a072b76a36a3522168f571
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000223_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60dde79feb3780d185d7e3e288783dce205f9289a9a2f83ee38535842523364
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000224_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000224_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2787226df38a60d0faf08a3160dd3b2cea89983b
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000224_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a854b34d16914dfef0f41afe46915ac0e6fe58d925cd7e63dcb896dfba1299f8
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000225_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000225_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1838e8c56bb3d06c94c7c980f9ce8de6505304ad
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000225_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ead7d40193a2a07cb5d3e1e1c8dbfc9b55283993234bf7932ef704c2556b20
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000226_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000226_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..13687e0057201aee3fdd79e1173ca44007a20a5d
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000226_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12272a1969f39c35cb95f640be22a843a1cbe28e598450940b5c0141ae10c392
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000227_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000227_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..465154af874450a37675648c9cfb9581408862eb
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000227_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c65ae80a20a994ad4a64a1965d60c10a34fa0b7bffd1193beeece3a33532cf
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000228_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000228_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d9d8e37072523ce7b1a932ab7fe4fc5cce55585
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000228_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895d8e5120c6e802ed60f9a4eff29d43aaef5964c5a3a43fc2a5eea7677cc4b2
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000229_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000229_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e6e6589193e0c1703abaf0fcd2040b7d98c7a83
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000229_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45f34d9384bec43d3cca1744e1526c2cfd49b2c234a15190d1fa15204658ca1
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000230_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000230_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d4e968be493982a26dac4d6d774352941dc0cc42
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000230_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9fe889a0227b0d2fd75eaa553ccb0e57b83b5143db479b7c18d65509fa82347
+size 952
diff --git a/redirect_red2green/episode_0003/audios/audio_000231_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000231_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25099257b2a971733f6b230d7df667f883b0aed1
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000231_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b87232f5d387035f8a1a864cd22c582ecdadb59e02d5c415c247faec62d6e296
+size 1256
diff --git a/redirect_red2green/episode_0003/audios/audio_000232_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000232_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7bb41aa1b07f5a52f2005069a051f6d633b8c16e
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000232_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca52e525af6a824775fb49b74e621d5145cb07b6c06b59775663c5e7d7dc467
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000233_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000233_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7331221ec75e27efabc998d5432d24e5f58bbc39
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000233_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f076fe80519f6b0f1d607d7636b314a5a54424a27174137994f02ece636adf
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000234_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000234_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f429760c9ce1c508a10c27dcf7bfee27c91a5ca2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000234_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c49600e8425353ac04072930760545e9b3093b1c27512d594177003f2048570a
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000235_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000235_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e732d8c2feb0ed0203b45910b85ab8922c6ee09
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000235_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd66b76bd20be7d4f2f298d90d0faa132ba0d38557e46308eb72788df5c1fecb
+size 1238
diff --git a/redirect_red2green/episode_0003/audios/audio_000236_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000236_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f0395649196490990fcbba7a308b26137f7fa6a
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000236_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1176679d6ccc2a15d5aa0386abeb9edf75752284780a3abd3fbe058c7cf8414
+size 1226
diff --git a/redirect_red2green/episode_0003/audios/audio_000237_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000237_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f63decc97db804aa83da5c01e3151473fa23a517
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000237_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afe2428e2306f430c244576d470a36c6ead411a923f5f4b0923a92cc02fd594
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000238_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000238_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..469866e27fd38faab2ac113803a1f4409dc68145
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000238_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff6e5e4538287df675e2ac20687d979bac7e3803596802a8abfea4ae9688a3b
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000239_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000239_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..55a5c3eb8588361e0b1d4e0237e9816801bcc6ab
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000239_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f5249d1cf9f8de44fd183231d8aab1c8bd9fc696c9b88a04650da43b52a462
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000240_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000240_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..88a500ef006955a180c537aae545aa8a74d7d514
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000240_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e38613486bcded28e0c4b5d48b8902f5026e4ff146c00ae7381e9df65f1dbdf
+size 1504
diff --git a/redirect_red2green/episode_0003/audios/audio_000241_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000241_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..164462b8c89c8e978b273ce4c20a2ad6bad47ec2
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000241_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef5406db78f53969170de4b32b6f8c5e66aaad0d92523ab9abc8be9a0dfe2b9
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000242_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000242_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7dca512fa5a46c3d92b6336cd9e5797b14b25550
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000242_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b260d1a6592aa1c846edb8fb479dae2ec5e72cfcbab40877278484a5da425cb
+size 960
diff --git a/redirect_red2green/episode_0003/audios/audio_000243_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000243_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5fb7d0f5a62739bfe82c880743740389d07ae7fa
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000243_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:febb37eb851c59314f01c606c9a609cb629e854b609fbb5910536c36ae2fa58a
+size 1248
diff --git a/redirect_red2green/episode_0003/audios/audio_000244_mic0.npy b/redirect_red2green/episode_0003/audios/audio_000244_mic0.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0772cdf7f1f9a440fafefd863f31ce68c6b4d545
--- /dev/null
+++ b/redirect_red2green/episode_0003/audios/audio_000244_mic0.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee1508b19598f4f9fcde7a1332bda04b1a5c8becc1976102ff5cd55b549f3be5
+size 960