{"samples": [{"_id": {"$oid": "6a9c29a2001e301809849acf"}, "filepath": "data/clean_whiteboard/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996141363502258, "task": "clean_whiteboard", "episode_index": 0, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1195, "duration": 59.75, "fps": 20.0, "end_effector_path_m": 1.4232, "end_effector_z_min_m": 0.0907, "end_effector_z_max_m": 0.1975, "gripper_min": 0.1322, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.288Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.288Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad0"}, "filepath": "data/clean_whiteboard/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998655439527022, "task": "clean_whiteboard", "episode_index": 1, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1225, "duration": 61.25, "fps": 20.0, "end_effector_path_m": 1.5408, "end_effector_z_min_m": 0.0892, "end_effector_z_max_m": 0.2034, "gripper_min": 0.1523, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.290Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.290Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad1"}, "filepath": "data/clean_whiteboard/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990696514147079, "task": "clean_whiteboard", "episode_index": 2, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1005, "duration": 50.25, "fps": 20.0, "end_effector_path_m": 1.2915, "end_effector_z_min_m": 0.0889, "end_effector_z_max_m": 0.2016, "gripper_min": 0.1481, "gripper_max": 0.829, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.290Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.290Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad2"}, "filepath": "data/clean_whiteboard/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995742414564357, "task": "clean_whiteboard", "episode_index": 3, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 683, "duration": 34.15, "fps": 20.0, "end_effector_path_m": 0.8442, "end_effector_z_min_m": 0.093, "end_effector_z_max_m": 0.1989, "gripper_min": 0.1335, "gripper_max": 0.8292, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.290Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.290Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad3"}, "filepath": "data/clean_whiteboard/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993877847252446, "task": "clean_whiteboard", "episode_index": 4, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 942, "duration": 47.099999999999994, "fps": 20.0, "end_effector_path_m": 1.2528, "end_effector_z_min_m": 0.0929, "end_effector_z_max_m": 0.1967, "gripper_min": 0.1313, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad4"}, "filepath": "data/clean_whiteboard/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996720730647323, "task": "clean_whiteboard", "episode_index": 5, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 802, "duration": 40.099999999999994, "fps": 20.0, "end_effector_path_m": 1.1682, "end_effector_z_min_m": 0.0928, "end_effector_z_max_m": 0.1995, "gripper_min": 0.1283, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad5"}, "filepath": "data/clean_whiteboard/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998693658050355, "task": "clean_whiteboard", "episode_index": 6, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 744, "duration": 37.199999999999996, "fps": 20.0, "end_effector_path_m": 1.0651, "end_effector_z_min_m": 0.0897, "end_effector_z_max_m": 0.1985, "gripper_min": 0.1557, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad6"}, "filepath": "data/clean_whiteboard/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995410654556524, "task": "clean_whiteboard", "episode_index": 7, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.8363, "end_effector_z_min_m": 0.0919, "end_effector_z_max_m": 0.2009, "gripper_min": 0.1347, "gripper_max": 0.8299, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad7"}, "filepath": "data/clean_whiteboard/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997885107080622, "task": "clean_whiteboard", "episode_index": 8, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 922, "duration": 46.099999999999994, "fps": 20.0, "end_effector_path_m": 1.2444, "end_effector_z_min_m": 0.0917, "end_effector_z_max_m": 0.2031, "gripper_min": 0.1293, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad8"}, "filepath": "data/clean_whiteboard/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990122826447251, "task": "clean_whiteboard", "episode_index": 9, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 725, "duration": 36.25, "fps": 20.0, "end_effector_path_m": 1.3293, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.1989, "gripper_min": 0.1854, "gripper_max": 0.829, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ad9"}, "filepath": "data/clean_whiteboard/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994510734039056, "task": "clean_whiteboard", "episode_index": 10, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 727, "duration": 36.349999999999994, "fps": 20.0, "end_effector_path_m": 1.1355, "end_effector_z_min_m": 0.0895, "end_effector_z_max_m": 0.2012, "gripper_min": 0.1198, "gripper_max": 0.8323, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ada"}, "filepath": "data/clean_whiteboard/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996390978020707, "task": "clean_whiteboard", "episode_index": 11, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 843, "duration": 42.15, "fps": 20.0, "end_effector_path_m": 0.9974, "end_effector_z_min_m": 0.0887, "end_effector_z_max_m": 0.1974, "gripper_min": 0.1439, "gripper_max": 0.8299, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849adb"}, "filepath": "data/clean_whiteboard/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995676110826383, "task": "clean_whiteboard", "episode_index": 12, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 736, "duration": 36.8, "fps": 20.0, "end_effector_path_m": 1.0649, "end_effector_z_min_m": 0.0896, "end_effector_z_max_m": 0.1993, "gripper_min": 0.134, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.291Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.291Z"}},{"_id": {"$oid": "6a9c29a2001e301809849adc"}, "filepath": "data/clean_whiteboard/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993184625245187, "task": "clean_whiteboard", "episode_index": 13, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 797, "duration": 39.849999999999994, "fps": 20.0, "end_effector_path_m": 1.2893, "end_effector_z_min_m": 0.0884, "end_effector_z_max_m": 0.2011, "gripper_min": 0.1717, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849add"}, "filepath": "data/clean_whiteboard/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998451921195151, "task": "clean_whiteboard", "episode_index": 14, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 693, "duration": 34.65, "fps": 20.0, "end_effector_path_m": 1.0847, "end_effector_z_min_m": 0.0902, "end_effector_z_max_m": 0.2153, "gripper_min": 0.1709, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ade"}, "filepath": "data/clean_whiteboard/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992575795570651, "task": "clean_whiteboard", "episode_index": 15, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 686, "duration": 34.3, "fps": 20.0, "end_effector_path_m": 0.9876, "end_effector_z_min_m": 0.0966, "end_effector_z_max_m": 0.2001, "gripper_min": 0.1158, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849adf"}, "filepath": "data/clean_whiteboard/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991297469085323, "task": "clean_whiteboard", "episode_index": 16, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 625, "duration": 31.25, "fps": 20.0, "end_effector_path_m": 0.8344, "end_effector_z_min_m": 0.0894, "end_effector_z_max_m": 0.1922, "gripper_min": 0.165, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae0"}, "filepath": "data/clean_whiteboard/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999851822547134, "task": "clean_whiteboard", "episode_index": 17, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 919, "duration": 45.949999999999996, "fps": 20.0, "end_effector_path_m": 1.2436, "end_effector_z_min_m": 0.0913, "end_effector_z_max_m": 0.2104, "gripper_min": 0.1412, "gripper_max": 0.8289, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae1"}, "filepath": "data/clean_whiteboard/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995323723722245, "task": "clean_whiteboard", "episode_index": 18, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 731, "duration": 36.55, "fps": 20.0, "end_effector_path_m": 0.844, "end_effector_z_min_m": 0.0952, "end_effector_z_max_m": 0.1998, "gripper_min": 0.1166, "gripper_max": 0.8292, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae2"}, "filepath": "data/clean_whiteboard/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990472012225243, "task": "clean_whiteboard", "episode_index": 19, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 952, "duration": 47.599999999999994, "fps": 20.0, "end_effector_path_m": 1.0571, "end_effector_z_min_m": 0.0962, "end_effector_z_max_m": 0.2061, "gripper_min": 0.103, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae3"}, "filepath": "data/clean_whiteboard/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996898912549512, "task": "clean_whiteboard", "episode_index": 20, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 687, "duration": 34.349999999999994, "fps": 20.0, "end_effector_path_m": 0.8751, "end_effector_z_min_m": 0.0897, "end_effector_z_max_m": 0.2012, "gripper_min": 0.1419, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae4"}, "filepath": "data/clean_whiteboard/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998528747976589, "task": "clean_whiteboard", "episode_index": 21, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 856, "duration": 42.8, "fps": 20.0, "end_effector_path_m": 1.1887, "end_effector_z_min_m": 0.0938, "end_effector_z_max_m": 0.2009, "gripper_min": 0.106, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae5"}, "filepath": "data/clean_whiteboard/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998623278751622, "task": "clean_whiteboard", "episode_index": 22, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 737, "duration": 36.849999999999994, "fps": 20.0, "end_effector_path_m": 0.9575, "end_effector_z_min_m": 0.0905, "end_effector_z_max_m": 0.2004, "gripper_min": 0.1328, "gripper_max": 0.8296, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae6"}, "filepath": "data/clean_whiteboard/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994847222691198, "task": "clean_whiteboard", "episode_index": 23, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 757, "duration": 37.849999999999994, "fps": 20.0, "end_effector_path_m": 0.9249, "end_effector_z_min_m": 0.0944, "end_effector_z_max_m": 0.2023, "gripper_min": 0.0994, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae7"}, "filepath": "data/clean_whiteboard/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998281053452867, "task": "clean_whiteboard", "episode_index": 24, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 782, "duration": 39.099999999999994, "fps": 20.0, "end_effector_path_m": 0.9735, "end_effector_z_min_m": 0.0901, "end_effector_z_max_m": 0.2012, "gripper_min": 0.1302, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.292Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.292Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae8"}, "filepath": "data/clean_whiteboard/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992951612561735, "task": "clean_whiteboard", "episode_index": 25, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 740, "duration": 37.0, "fps": 20.0, "end_effector_path_m": 1.0362, "end_effector_z_min_m": 0.0926, "end_effector_z_max_m": 0.202, "gripper_min": 0.0993, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.293Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.293Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ae9"}, "filepath": "data/clean_whiteboard/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999001581626044, "task": "clean_whiteboard", "episode_index": 26, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 616, "duration": 30.8, "fps": 20.0, "end_effector_path_m": 0.8531, "end_effector_z_min_m": 0.0965, "end_effector_z_max_m": 0.1956, "gripper_min": 0.0951, "gripper_max": 0.83, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.293Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.293Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aea"}, "filepath": "data/clean_whiteboard/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997162351660085, "task": "clean_whiteboard", "episode_index": 27, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 619, "duration": 30.95, "fps": 20.0, "end_effector_path_m": 0.7916, "end_effector_z_min_m": 0.0975, "end_effector_z_max_m": 0.2021, "gripper_min": 0.0851, "gripper_max": 0.8302, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.293Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.293Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aeb"}, "filepath": "data/clean_whiteboard/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998188789011928, "task": "clean_whiteboard", "episode_index": 28, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 706, "duration": 35.3, "fps": 20.0, "end_effector_path_m": 0.8633, "end_effector_z_min_m": 0.0965, "end_effector_z_max_m": 0.2046, "gripper_min": 0.0888, "gripper_max": 0.8312, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.294Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.294Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aec"}, "filepath": "data/clean_whiteboard/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998278103191274, "task": "clean_whiteboard", "episode_index": 29, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 696, "duration": 34.8, "fps": 20.0, "end_effector_path_m": 1.0627, "end_effector_z_min_m": 0.0948, "end_effector_z_max_m": 0.1967, "gripper_min": 0.0994, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aed"}, "filepath": "data/clean_whiteboard/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994614724565604, "task": "clean_whiteboard", "episode_index": 30, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 829, "duration": 41.449999999999996, "fps": 20.0, "end_effector_path_m": 1.0513, "end_effector_z_min_m": 0.091, "end_effector_z_max_m": 0.1962, "gripper_min": 0.1242, "gripper_max": 0.8289, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aee"}, "filepath": "data/clean_whiteboard/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996323899871314, "task": "clean_whiteboard", "episode_index": 31, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 671, "duration": 33.55, "fps": 20.0, "end_effector_path_m": 1.0662, "end_effector_z_min_m": 0.0909, "end_effector_z_max_m": 0.1972, "gripper_min": 0.127, "gripper_max": 0.8289, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aef"}, "filepath": "data/clean_whiteboard/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998701177825537, "task": "clean_whiteboard", "episode_index": 32, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 695, "duration": 34.75, "fps": 20.0, "end_effector_path_m": 0.9988, "end_effector_z_min_m": 0.0935, "end_effector_z_max_m": 0.201, "gripper_min": 0.1037, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af0"}, "filepath": "data/clean_whiteboard/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992457378311472, "task": "clean_whiteboard", "episode_index": 33, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 575, "duration": 28.75, "fps": 20.0, "end_effector_path_m": 0.7991, "end_effector_z_min_m": 0.0949, "end_effector_z_max_m": 0.1969, "gripper_min": 0.0999, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af1"}, "filepath": "data/clean_whiteboard/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997622632695083, "task": "clean_whiteboard", "episode_index": 34, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 634, "duration": 31.7, "fps": 20.0, "end_effector_path_m": 0.9206, "end_effector_z_min_m": 0.0941, "end_effector_z_max_m": 0.1999, "gripper_min": 0.108, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af2"}, "filepath": "data/clean_whiteboard/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994136564838183, "task": "clean_whiteboard", "episode_index": 35, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 760, "duration": 38.0, "fps": 20.0, "end_effector_path_m": 0.9718, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.1974, "gripper_min": 0.1125, "gripper_max": 0.8298, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af3"}, "filepath": "data/clean_whiteboard/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996688247975948, "task": "clean_whiteboard", "episode_index": 36, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 811, "duration": 40.55, "fps": 20.0, "end_effector_path_m": 0.9063, "end_effector_z_min_m": 0.093, "end_effector_z_max_m": 0.1983, "gripper_min": 0.1394, "gripper_max": 0.8295, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af4"}, "filepath": "data/clean_whiteboard/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995176684895186, "task": "clean_whiteboard", "episode_index": 37, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 819, "duration": 40.949999999999996, "fps": 20.0, "end_effector_path_m": 0.8451, "end_effector_z_min_m": 0.0913, "end_effector_z_max_m": 0.1996, "gripper_min": 0.1346, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af5"}, "filepath": "data/clean_whiteboard/episode_038.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992325100421267, "task": "clean_whiteboard", "episode_index": 38, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 880, "duration": 44.0, "fps": 20.0, "end_effector_path_m": 1.0984, "end_effector_z_min_m": 0.0882, "end_effector_z_max_m": 0.2, "gripper_min": 0.1389, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.295Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.295Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af6"}, "filepath": "data/clean_whiteboard/episode_039.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995437517205676, "task": "clean_whiteboard", "episode_index": 39, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 968, "duration": 48.4, "fps": 20.0, "end_effector_path_m": 1.1885, "end_effector_z_min_m": 0.0914, "end_effector_z_max_m": 0.1923, "gripper_min": 0.1293, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af7"}, "filepath": "data/clean_whiteboard/episode_040.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998275985253731, "task": "clean_whiteboard", "episode_index": 40, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 746, "duration": 37.3, "fps": 20.0, "end_effector_path_m": 0.9247, "end_effector_z_min_m": 0.0914, "end_effector_z_max_m": 0.2064, "gripper_min": 0.136, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af8"}, "filepath": "data/clean_whiteboard/episode_041.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999570885174465, "task": "clean_whiteboard", "episode_index": 41, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 707, "duration": 35.349999999999994, "fps": 20.0, "end_effector_path_m": 0.9105, "end_effector_z_min_m": 0.091, "end_effector_z_max_m": 0.1996, "gripper_min": 0.1211, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849af9"}, "filepath": "data/clean_whiteboard/episode_042.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998321936821174, "task": "clean_whiteboard", "episode_index": 42, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 623, "duration": 31.150000000000002, "fps": 20.0, "end_effector_path_m": 0.7956, "end_effector_z_min_m": 0.0935, "end_effector_z_max_m": 0.1961, "gripper_min": 0.1145, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849afa"}, "filepath": "data/clean_whiteboard/episode_043.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997945370150805, "task": "clean_whiteboard", "episode_index": 43, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 673, "duration": 33.65, "fps": 20.0, "end_effector_path_m": 1.008, "end_effector_z_min_m": 0.089, "end_effector_z_max_m": 0.1937, "gripper_min": 0.1316, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849afb"}, "filepath": "data/clean_whiteboard/episode_044.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992630777999686, "task": "clean_whiteboard", "episode_index": 44, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 635, "duration": 31.75, "fps": 20.0, "end_effector_path_m": 1.007, "end_effector_z_min_m": 0.0905, "end_effector_z_max_m": 0.2029, "gripper_min": 0.1231, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849afc"}, "filepath": "data/clean_whiteboard/episode_045.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998838048770039, "task": "clean_whiteboard", "episode_index": 45, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 655, "duration": 32.75, "fps": 20.0, "end_effector_path_m": 0.9997, "end_effector_z_min_m": 0.0941, "end_effector_z_max_m": 0.1979, "gripper_min": 0.1048, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849afd"}, "filepath": "data/clean_whiteboard/episode_046.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993837505093316, "task": "clean_whiteboard", "episode_index": 46, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 795, "duration": 39.75, "fps": 20.0, "end_effector_path_m": 1.1914, "end_effector_z_min_m": 0.0919, "end_effector_z_max_m": 0.1985, "gripper_min": 0.109, "gripper_max": 0.8297, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849afe"}, "filepath": "data/clean_whiteboard/episode_047.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990403022497882, "task": "clean_whiteboard", "episode_index": 47, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 631, "duration": 31.55, "fps": 20.0, "end_effector_path_m": 0.9159, "end_effector_z_min_m": 0.0916, "end_effector_z_max_m": 0.1991, "gripper_min": 0.1203, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849aff"}, "filepath": "data/clean_whiteboard/episode_048.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991368748334838, "task": "clean_whiteboard", "episode_index": 48, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 941, "duration": 47.05, "fps": 20.0, "end_effector_path_m": 1.3151, "end_effector_z_min_m": 0.0927, "end_effector_z_max_m": 0.1972, "gripper_min": 0.1041, "gripper_max": 0.8321, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b00"}, "filepath": "data/clean_whiteboard/episode_049.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997247889445185, "task": "clean_whiteboard", "episode_index": 49, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 653, "duration": 32.65, "fps": 20.0, "end_effector_path_m": 0.9525, "end_effector_z_min_m": 0.0934, "end_effector_z_max_m": 0.2009, "gripper_min": 0.1115, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b01"}, "filepath": "data/clean_whiteboard/episode_050.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998569231801828, "task": "clean_whiteboard", "episode_index": 50, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 603, "duration": 30.150000000000002, "fps": 20.0, "end_effector_path_m": 0.8542, "end_effector_z_min_m": 0.0966, "end_effector_z_max_m": 0.2035, "gripper_min": 0.0966, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.296Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.296Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b02"}, "filepath": "data/clean_whiteboard/episode_051.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996775533667684, "task": "clean_whiteboard", "episode_index": 51, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.896, "end_effector_z_min_m": 0.0949, "end_effector_z_max_m": 0.1999, "gripper_min": 0.0865, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b03"}, "filepath": "data/clean_whiteboard/episode_052.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991178257944513, "task": "clean_whiteboard", "episode_index": 52, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 691, "duration": 34.55, "fps": 20.0, "end_effector_path_m": 0.9926, "end_effector_z_min_m": 0.0937, "end_effector_z_max_m": 0.2041, "gripper_min": 0.0979, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b04"}, "filepath": "data/clean_whiteboard/episode_053.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993729589084284, "task": "clean_whiteboard", "episode_index": 53, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 824, "duration": 41.199999999999996, "fps": 20.0, "end_effector_path_m": 1.0476, "end_effector_z_min_m": 0.0939, "end_effector_z_max_m": 0.1978, "gripper_min": 0.1077, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b05"}, "filepath": "data/clean_whiteboard/episode_054.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997432510532954, "task": "clean_whiteboard", "episode_index": 54, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 824, "duration": 41.199999999999996, "fps": 20.0, "end_effector_path_m": 1.1942, "end_effector_z_min_m": 0.0948, "end_effector_z_max_m": 0.1923, "gripper_min": 0.09, "gripper_max": 0.8314, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b06"}, "filepath": "data/clean_whiteboard/episode_055.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996972948587165, "task": "clean_whiteboard", "episode_index": 55, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 904, "duration": 45.199999999999996, "fps": 20.0, "end_effector_path_m": 1.052, "end_effector_z_min_m": 0.0952, "end_effector_z_max_m": 0.198, "gripper_min": 0.0883, "gripper_max": 0.8295, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b07"}, "filepath": "data/clean_whiteboard/episode_056.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999549387244011, "task": "clean_whiteboard", "episode_index": 56, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 887, "duration": 44.349999999999994, "fps": 20.0, "end_effector_path_m": 1.1773, "end_effector_z_min_m": 0.095, "end_effector_z_max_m": 0.1978, "gripper_min": 0.0799, "gripper_max": 0.8315, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b08"}, "filepath": "data/clean_whiteboard/episode_057.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993838163982307, "task": "clean_whiteboard", "episode_index": 57, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 909, "duration": 45.449999999999996, "fps": 20.0, "end_effector_path_m": 1.0595, "end_effector_z_min_m": 0.0949, "end_effector_z_max_m": 0.2044, "gripper_min": 0.0858, "gripper_max": 0.8294, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b09"}, "filepath": "data/clean_whiteboard/episode_058.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990431646646353, "task": "clean_whiteboard", "episode_index": 58, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 899, "duration": 44.949999999999996, "fps": 20.0, "end_effector_path_m": 1.1677, "end_effector_z_min_m": 0.0955, "end_effector_z_max_m": 0.1605, "gripper_min": 0.0946, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b0a"}, "filepath": "data/clean_whiteboard/episode_059.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991031361444042, "task": "clean_whiteboard", "episode_index": 59, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 808, "duration": 40.4, "fps": 20.0, "end_effector_path_m": 0.9763, "end_effector_z_min_m": 0.0942, "end_effector_z_max_m": 0.1981, "gripper_min": 0.1086, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b0b"}, "filepath": "data/clean_whiteboard/episode_060.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993878956637964, "task": "clean_whiteboard", "episode_index": 60, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 794, "duration": 39.699999999999996, "fps": 20.0, "end_effector_path_m": 1.0358, "end_effector_z_min_m": 0.098, "end_effector_z_max_m": 0.1958, "gripper_min": 0.0843, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b0c"}, "filepath": "data/clean_whiteboard/episode_061.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996458433612754, "task": "clean_whiteboard", "episode_index": 61, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1030, "duration": 51.5, "fps": 20.0, "end_effector_path_m": 1.1646, "end_effector_z_min_m": 0.0958, "end_effector_z_max_m": 0.2252, "gripper_min": 0.0896, "gripper_max": 0.8291, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b0d"}, "filepath": "data/clean_whiteboard/episode_062.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990220974942648, "task": "clean_whiteboard", "episode_index": 62, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 906, "duration": 45.3, "fps": 20.0, "end_effector_path_m": 1.2008, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.1981, "gripper_min": 0.1043, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.297Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.297Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b0e"}, "filepath": "data/clean_whiteboard/episode_063.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993202638325359, "task": "clean_whiteboard", "episode_index": 63, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 996, "duration": 49.8, "fps": 20.0, "end_effector_path_m": 1.1339, "end_effector_z_min_m": 0.0954, "end_effector_z_max_m": 0.224, "gripper_min": 0.0949, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b0f"}, "filepath": "data/clean_whiteboard/episode_064.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993179923953728, "task": "clean_whiteboard", "episode_index": 64, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1194, "duration": 59.699999999999996, "fps": 20.0, "end_effector_path_m": 1.5218, "end_effector_z_min_m": 0.095, "end_effector_z_max_m": 0.2231, "gripper_min": 0.1039, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b10"}, "filepath": "data/clean_whiteboard/episode_065.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999739426423588, "task": "clean_whiteboard", "episode_index": 65, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 944, "duration": 47.199999999999996, "fps": 20.0, "end_effector_path_m": 1.2916, "end_effector_z_min_m": 0.095, "end_effector_z_max_m": 0.1996, "gripper_min": 0.0962, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b11"}, "filepath": "data/clean_whiteboard/episode_066.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998114970849132, "task": "clean_whiteboard", "episode_index": 66, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 761, "duration": 38.05, "fps": 20.0, "end_effector_path_m": 0.9797, "end_effector_z_min_m": 0.0931, "end_effector_z_max_m": 0.197, "gripper_min": 0.1107, "gripper_max": 0.8307, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b12"}, "filepath": "data/clean_whiteboard/episode_067.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998690675738161, "task": "clean_whiteboard", "episode_index": 67, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1095, "duration": 54.75, "fps": 20.0, "end_effector_path_m": 1.3522, "end_effector_z_min_m": 0.0947, "end_effector_z_max_m": 0.2012, "gripper_min": 0.0835, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b13"}, "filepath": "data/clean_whiteboard/episode_068.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997811476768897, "task": "clean_whiteboard", "episode_index": 68, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 963, "duration": 48.15, "fps": 20.0, "end_effector_path_m": 1.3051, "end_effector_z_min_m": 0.0913, "end_effector_z_max_m": 0.199, "gripper_min": 0.1147, "gripper_max": 0.8303, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b14"}, "filepath": "data/clean_whiteboard/episode_069.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998436764598405, "task": "clean_whiteboard", "episode_index": 69, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1065, "duration": 53.25, "fps": 20.0, "end_effector_path_m": 1.3414, "end_effector_z_min_m": 0.093, "end_effector_z_max_m": 0.1978, "gripper_min": 0.104, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b15"}, "filepath": "data/clean_whiteboard/episode_070.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996984203091808, "task": "clean_whiteboard", "episode_index": 70, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 896, "duration": 44.8, "fps": 20.0, "end_effector_path_m": 1.181, "end_effector_z_min_m": 0.0928, "end_effector_z_max_m": 0.2195, "gripper_min": 0.1109, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b16"}, "filepath": "data/clean_whiteboard/episode_071.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992689062481278, "task": "clean_whiteboard", "episode_index": 71, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 759, "duration": 37.949999999999996, "fps": 20.0, "end_effector_path_m": 0.958, "end_effector_z_min_m": 0.0924, "end_effector_z_max_m": 0.2193, "gripper_min": 0.1078, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b17"}, "filepath": "data/clean_whiteboard/episode_072.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999389357176187, "task": "clean_whiteboard", "episode_index": 72, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 835, "duration": 41.75, "fps": 20.0, "end_effector_path_m": 1.0854, "end_effector_z_min_m": 0.0971, "end_effector_z_max_m": 0.2002, "gripper_min": 0.0727, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b18"}, "filepath": "data/clean_whiteboard/episode_073.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990910170614637, "task": "clean_whiteboard", "episode_index": 73, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 987, "duration": 49.349999999999994, "fps": 20.0, "end_effector_path_m": 1.2702, "end_effector_z_min_m": 0.0949, "end_effector_z_max_m": 0.1856, "gripper_min": 0.0961, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b19"}, "filepath": "data/clean_whiteboard/episode_074.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994811956203995, "task": "clean_whiteboard", "episode_index": 74, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1248, "duration": 62.4, "fps": 20.0, "end_effector_path_m": 1.5412, "end_effector_z_min_m": 0.0913, "end_effector_z_max_m": 0.2006, "gripper_min": 0.112, "gripper_max": 0.8294, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b1a"}, "filepath": "data/clean_whiteboard/episode_075.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999423753990826, "task": "clean_whiteboard", "episode_index": 75, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 991, "duration": 49.55, "fps": 20.0, "end_effector_path_m": 1.2506, "end_effector_z_min_m": 0.0937, "end_effector_z_max_m": 0.1995, "gripper_min": 0.0912, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.298Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.298Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b1b"}, "filepath": "data/clean_whiteboard/episode_076.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991041606520823, "task": "clean_whiteboard", "episode_index": 76, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 917, "duration": 45.849999999999994, "fps": 20.0, "end_effector_path_m": 1.1986, "end_effector_z_min_m": 0.0905, "end_effector_z_max_m": 0.1985, "gripper_min": 0.1248, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b1c"}, "filepath": "data/clean_whiteboard/episode_077.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998057828552845, "task": "clean_whiteboard", "episode_index": 77, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 941, "duration": 47.05, "fps": 20.0, "end_effector_path_m": 1.1749, "end_effector_z_min_m": 0.0934, "end_effector_z_max_m": 0.1985, "gripper_min": 0.0914, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b1d"}, "filepath": "data/clean_whiteboard/episode_078.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996175573891516, "task": "clean_whiteboard", "episode_index": 78, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1137, "duration": 56.849999999999994, "fps": 20.0, "end_effector_path_m": 1.4186, "end_effector_z_min_m": 0.0936, "end_effector_z_max_m": 0.1805, "gripper_min": 0.0917, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b1e"}, "filepath": "data/clean_whiteboard/episode_079.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994204492499689, "task": "clean_whiteboard", "episode_index": 79, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 936, "duration": 46.8, "fps": 20.0, "end_effector_path_m": 1.3309, "end_effector_z_min_m": 0.0917, "end_effector_z_max_m": 0.2206, "gripper_min": 0.1036, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b1f"}, "filepath": "data/clean_whiteboard/episode_080.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999812341435944, "task": "clean_whiteboard", "episode_index": 80, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 779, "duration": 38.949999999999996, "fps": 20.0, "end_effector_path_m": 0.9784, "end_effector_z_min_m": 0.0935, "end_effector_z_max_m": 0.2073, "gripper_min": 0.0981, "gripper_max": 0.8292, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b20"}, "filepath": "data/clean_whiteboard/episode_081.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990372456998463, "task": "clean_whiteboard", "episode_index": 81, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 848, "duration": 42.4, "fps": 20.0, "end_effector_path_m": 1.2525, "end_effector_z_min_m": 0.0943, "end_effector_z_max_m": 0.1995, "gripper_min": 0.0773, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b21"}, "filepath": "data/clean_whiteboard/episode_082.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996933281701452, "task": "clean_whiteboard", "episode_index": 82, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 852, "duration": 42.599999999999994, "fps": 20.0, "end_effector_path_m": 1.1485, "end_effector_z_min_m": 0.0916, "end_effector_z_max_m": 0.1978, "gripper_min": 0.1243, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b22"}, "filepath": "data/clean_whiteboard/episode_083.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999321293309873, "task": "clean_whiteboard", "episode_index": 83, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1039, "duration": 51.949999999999996, "fps": 20.0, "end_effector_path_m": 1.5718, "end_effector_z_min_m": 0.0917, "end_effector_z_max_m": 0.1972, "gripper_min": 0.1069, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b23"}, "filepath": "data/clean_whiteboard/episode_084.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999552050364843, "task": "clean_whiteboard", "episode_index": 84, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1071, "duration": 53.55, "fps": 20.0, "end_effector_path_m": 1.5172, "end_effector_z_min_m": 0.0933, "end_effector_z_max_m": 0.2202, "gripper_min": 0.0971, "gripper_max": 0.8304, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b24"}, "filepath": "data/clean_whiteboard/episode_085.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995631338506307, "task": "clean_whiteboard", "episode_index": 85, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 922, "duration": 46.099999999999994, "fps": 20.0, "end_effector_path_m": 1.3809, "end_effector_z_min_m": 0.0945, "end_effector_z_max_m": 0.1985, "gripper_min": 0.078, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b25"}, "filepath": "data/clean_whiteboard/episode_086.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999975227301527, "task": "clean_whiteboard", "episode_index": 86, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 1031, "duration": 51.55, "fps": 20.0, "end_effector_path_m": 1.3209, "end_effector_z_min_m": 0.0935, "end_effector_z_max_m": 0.1973, "gripper_min": 0.0843, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b26"}, "filepath": "data/clean_whiteboard/episode_087.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999380752169118, "task": "clean_whiteboard", "episode_index": 87, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 804, "duration": 40.199999999999996, "fps": 20.0, "end_effector_path_m": 1.0392, "end_effector_z_min_m": 0.095, "end_effector_z_max_m": 0.1987, "gripper_min": 0.1006, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.299Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.299Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b27"}, "filepath": "data/clean_whiteboard/episode_088.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991209883562234, "task": "clean_whiteboard", "episode_index": 88, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 922, "duration": 46.099999999999994, "fps": 20.0, "end_effector_path_m": 1.1179, "end_effector_z_min_m": 0.0946, "end_effector_z_max_m": 0.1973, "gripper_min": 0.0823, "gripper_max": 0.8295, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b28"}, "filepath": "data/clean_whiteboard/episode_089.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993976729516179, "task": "clean_whiteboard", "episode_index": 89, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 925, "duration": 46.25, "fps": 20.0, "end_effector_path_m": 1.1903, "end_effector_z_min_m": 0.0944, "end_effector_z_max_m": 0.2022, "gripper_min": 0.1125, "gripper_max": 0.8294, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b29"}, "filepath": "data/clean_whiteboard/episode_090.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996263173215274, "task": "clean_whiteboard", "episode_index": 90, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 906, "duration": 45.3, "fps": 20.0, "end_effector_path_m": 1.0479, "end_effector_z_min_m": 0.0921, "end_effector_z_max_m": 0.2011, "gripper_min": 0.1191, "gripper_max": 0.829, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b2a"}, "filepath": "data/clean_whiteboard/episode_091.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999592524370861, "task": "clean_whiteboard", "episode_index": 91, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 914, "duration": 45.699999999999996, "fps": 20.0, "end_effector_path_m": 1.0798, "end_effector_z_min_m": 0.0956, "end_effector_z_max_m": 0.2003, "gripper_min": 0.0938, "gripper_max": 0.8312, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b2b"}, "filepath": "data/clean_whiteboard/episode_092.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998633799837614, "task": "clean_whiteboard", "episode_index": 92, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 849, "duration": 42.449999999999996, "fps": 20.0, "end_effector_path_m": 1.1049, "end_effector_z_min_m": 0.0893, "end_effector_z_max_m": 0.2276, "gripper_min": 0.1364, "gripper_max": 0.8289, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b2c"}, "filepath": "data/clean_whiteboard/episode_093.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990507255628587, "task": "clean_whiteboard", "episode_index": 93, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 736, "duration": 36.8, "fps": 20.0, "end_effector_path_m": 1.0447, "end_effector_z_min_m": 0.0937, "end_effector_z_max_m": 0.2278, "gripper_min": 0.0912, "gripper_max": 0.8316, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b2d"}, "filepath": "data/clean_whiteboard/episode_094.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993572587905897, "task": "clean_whiteboard", "episode_index": 94, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 772, "duration": 38.599999999999994, "fps": 20.0, "end_effector_path_m": 1.034, "end_effector_z_min_m": 0.095, "end_effector_z_max_m": 0.1985, "gripper_min": 0.0893, "gripper_max": 0.8336, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b2e"}, "filepath": "data/clean_whiteboard/episode_095.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993579747297016, "task": "clean_whiteboard", "episode_index": 95, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 876, "duration": 43.8, "fps": 20.0, "end_effector_path_m": 1.2278, "end_effector_z_min_m": 0.0954, "end_effector_z_max_m": 0.2028, "gripper_min": 0.0873, "gripper_max": 0.8288, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b2f"}, "filepath": "data/clean_whiteboard/episode_096.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998320676760776, "task": "clean_whiteboard", "episode_index": 96, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 871, "duration": 43.55, "fps": 20.0, "end_effector_path_m": 1.2554, "end_effector_z_min_m": 0.0951, "end_effector_z_max_m": 0.2, "gripper_min": 0.0786, "gripper_max": 0.8297, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b30"}, "filepath": "data/clean_whiteboard/episode_097.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999975606173999, "task": "clean_whiteboard", "episode_index": 97, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 730, "duration": 36.5, "fps": 20.0, "end_effector_path_m": 1.0228, "end_effector_z_min_m": 0.0938, "end_effector_z_max_m": 0.2013, "gripper_min": 0.0857, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b31"}, "filepath": "data/clean_whiteboard/episode_098.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999250494552101, "task": "clean_whiteboard", "episode_index": 98, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 864, "duration": 43.199999999999996, "fps": 20.0, "end_effector_path_m": 1.1846, "end_effector_z_min_m": 0.098, "end_effector_z_max_m": 0.2142, "gripper_min": 0.0625, "gripper_max": 0.834, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b32"}, "filepath": "data/clean_whiteboard/episode_099.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994952516878223, "task": "clean_whiteboard", "episode_index": 99, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 929, "duration": 46.449999999999996, "fps": 20.0, "end_effector_path_m": 1.3032, "end_effector_z_min_m": 0.0937, "end_effector_z_max_m": 0.2014, "gripper_min": 0.0877, "gripper_max": 0.8326, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.300Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.300Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b33"}, "filepath": "data/clean_whiteboard/episode_100.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990247664704635, "task": "clean_whiteboard", "episode_index": 100, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 958, "duration": 47.9, "fps": 20.0, "end_effector_path_m": 1.2246, "end_effector_z_min_m": 0.0959, "end_effector_z_max_m": 0.2259, "gripper_min": 0.079, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b34"}, "filepath": "data/clean_whiteboard/episode_101.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994838660004766, "task": "clean_whiteboard", "episode_index": 101, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 889, "duration": 44.449999999999996, "fps": 20.0, "end_effector_path_m": 1.3071, "end_effector_z_min_m": 0.0952, "end_effector_z_max_m": 0.199, "gripper_min": 0.0715, "gripper_max": 0.832, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b35"}, "filepath": "data/clean_whiteboard/episode_102.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996885654067573, "task": "clean_whiteboard", "episode_index": 102, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 733, "duration": 36.65, "fps": 20.0, "end_effector_path_m": 1.1263, "end_effector_z_min_m": 0.0965, "end_effector_z_max_m": 0.1998, "gripper_min": 0.0659, "gripper_max": 0.8324, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b36"}, "filepath": "data/clean_whiteboard/episode_103.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992448369104051, "task": "clean_whiteboard", "episode_index": 103, "instruction": "Clean the whiteboard with an eraser.", "num_frames": 706, "duration": 35.3, "fps": 20.0, "end_effector_path_m": 1.0466, "end_effector_z_min_m": 0.0959, "end_effector_z_max_m": 0.1987, "gripper_min": 0.0838, "gripper_max": 0.8292, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b37"}, "filepath": "data/cut_banana/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994537500281495, "task": "cut_banana", "episode_index": 0, "instruction": "Cut the banana with a knife.", "num_frames": 422, "duration": 21.1, "fps": 20.0, "end_effector_path_m": 0.2627, "end_effector_z_min_m": 0.0853, "end_effector_z_max_m": 0.2018, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b38"}, "filepath": "data/cut_banana/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999913156276155, "task": "cut_banana", "episode_index": 1, "instruction": "Cut the banana with a knife.", "num_frames": 291, "duration": 14.55, "fps": 20.0, "end_effector_path_m": 0.253, "end_effector_z_min_m": 0.086, "end_effector_z_max_m": 0.1984, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b39"}, "filepath": "data/cut_banana/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990599584281619, "task": "cut_banana", "episode_index": 2, "instruction": "Cut the banana with a knife.", "num_frames": 276, "duration": 13.8, "fps": 20.0, "end_effector_path_m": 0.2272, "end_effector_z_min_m": 0.0878, "end_effector_z_max_m": 0.1975, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b3a"}, "filepath": "data/cut_banana/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992950432289941, "task": "cut_banana", "episode_index": 3, "instruction": "Cut the banana with a knife.", "num_frames": 396, "duration": 19.8, "fps": 20.0, "end_effector_path_m": 0.2554, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.2019, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b3b"}, "filepath": "data/cut_banana/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999705247223486, "task": "cut_banana", "episode_index": 4, "instruction": "Cut the banana with a knife.", "num_frames": 318, "duration": 15.9, "fps": 20.0, "end_effector_path_m": 0.2517, "end_effector_z_min_m": 0.0886, "end_effector_z_max_m": 0.2019, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b3c"}, "filepath": "data/cut_banana/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993393410332163, "task": "cut_banana", "episode_index": 5, "instruction": "Cut the banana with a knife.", "num_frames": 268, "duration": 13.4, "fps": 20.0, "end_effector_path_m": 0.2676, "end_effector_z_min_m": 0.0856, "end_effector_z_max_m": 0.199, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b3d"}, "filepath": "data/cut_banana/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999353478028799, "task": "cut_banana", "episode_index": 6, "instruction": "Cut the banana with a knife.", "num_frames": 356, "duration": 17.8, "fps": 20.0, "end_effector_path_m": 0.2175, "end_effector_z_min_m": 0.0865, "end_effector_z_max_m": 0.2021, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b3e"}, "filepath": "data/cut_banana/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992785134678264, "task": "cut_banana", "episode_index": 7, "instruction": "Cut the banana with a knife.", "num_frames": 182, "duration": 9.100000000000001, "fps": 20.0, "end_effector_path_m": 0.1274, "end_effector_z_min_m": 0.0853, "end_effector_z_max_m": 0.2011, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b3f"}, "filepath": "data/cut_banana/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998895723775566, "task": "cut_banana", "episode_index": 8, "instruction": "Cut the banana with a knife.", "num_frames": 242, "duration": 12.100000000000001, "fps": 20.0, "end_effector_path_m": 0.148, "end_effector_z_min_m": 0.089, "end_effector_z_max_m": 0.2024, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.301Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.301Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b40"}, "filepath": "data/cut_banana/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991077594060255, "task": "cut_banana", "episode_index": 9, "instruction": "Cut the banana with a knife.", "num_frames": 414, "duration": 20.7, "fps": 20.0, "end_effector_path_m": 0.2864, "end_effector_z_min_m": 0.084, "end_effector_z_max_m": 0.2009, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b41"}, "filepath": "data/cut_banana/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992491766229138, "task": "cut_banana", "episode_index": 10, "instruction": "Cut the banana with a knife.", "num_frames": 282, "duration": 14.100000000000001, "fps": 20.0, "end_effector_path_m": 0.1561, "end_effector_z_min_m": 0.0852, "end_effector_z_max_m": 0.196, "gripper_min": 0.0043, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b42"}, "filepath": "data/cut_banana/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998725176642701, "task": "cut_banana", "episode_index": 11, "instruction": "Cut the banana with a knife.", "num_frames": 230, "duration": 11.5, "fps": 20.0, "end_effector_path_m": 0.1425, "end_effector_z_min_m": 0.0849, "end_effector_z_max_m": 0.1916, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b43"}, "filepath": "data/cut_banana/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997566022505227, "task": "cut_banana", "episode_index": 12, "instruction": "Cut the banana with a knife.", "num_frames": 229, "duration": 11.450000000000001, "fps": 20.0, "end_effector_path_m": 0.1732, "end_effector_z_min_m": 0.0844, "end_effector_z_max_m": 0.1921, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b44"}, "filepath": "data/cut_banana/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992426392393179, "task": "cut_banana", "episode_index": 13, "instruction": "Cut the banana with a knife.", "num_frames": 176, "duration": 8.8, "fps": 20.0, "end_effector_path_m": 0.144, "end_effector_z_min_m": 0.0839, "end_effector_z_max_m": 0.2012, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b45"}, "filepath": "data/cut_banana/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998260099002215, "task": "cut_banana", "episode_index": 14, "instruction": "Cut the banana with a knife.", "num_frames": 177, "duration": 8.850000000000001, "fps": 20.0, "end_effector_path_m": 0.1326, "end_effector_z_min_m": 0.0902, "end_effector_z_max_m": 0.1918, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b46"}, "filepath": "data/cut_banana/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999058421879531, "task": "cut_banana", "episode_index": 15, "instruction": "Cut the banana with a knife.", "num_frames": 175, "duration": 8.75, "fps": 20.0, "end_effector_path_m": 0.1509, "end_effector_z_min_m": 0.0852, "end_effector_z_max_m": 0.2022, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b47"}, "filepath": "data/cut_banana/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999196120606804, "task": "cut_banana", "episode_index": 16, "instruction": "Cut the banana with a knife.", "num_frames": 181, "duration": 9.05, "fps": 20.0, "end_effector_path_m": 0.1489, "end_effector_z_min_m": 0.0832, "end_effector_z_max_m": 0.2005, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b48"}, "filepath": "data/cut_banana/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996731764969091, "task": "cut_banana", "episode_index": 17, "instruction": "Cut the banana with a knife.", "num_frames": 162, "duration": 8.100000000000001, "fps": 20.0, "end_effector_path_m": 0.1512, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.2008, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b49"}, "filepath": "data/cut_banana/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999032879505177, "task": "cut_banana", "episode_index": 18, "instruction": "Cut the banana with a knife.", "num_frames": 223, "duration": 11.15, "fps": 20.0, "end_effector_path_m": 0.1524, "end_effector_z_min_m": 0.0827, "end_effector_z_max_m": 0.202, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b4a"}, "filepath": "data/cut_banana/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999266451026797, "task": "cut_banana", "episode_index": 19, "instruction": "Cut the banana with a knife.", "num_frames": 233, "duration": 11.65, "fps": 20.0, "end_effector_path_m": 0.1746, "end_effector_z_min_m": 0.0855, "end_effector_z_max_m": 0.1939, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b4b"}, "filepath": "data/cut_banana/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998049578016392, "task": "cut_banana", "episode_index": 20, "instruction": "Cut the banana with a knife.", "num_frames": 288, "duration": 14.4, "fps": 20.0, "end_effector_path_m": 0.2722, "end_effector_z_min_m": 0.0835, "end_effector_z_max_m": 0.2015, "gripper_min": 0.0044, "gripper_max": 0.0045, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.302Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.302Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b4c"}, "filepath": "data/cut_banana/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995409754222722, "task": "cut_banana", "episode_index": 21, "instruction": "Cut the banana with a knife.", "num_frames": 256, "duration": 12.8, "fps": 20.0, "end_effector_path_m": 0.1522, "end_effector_z_min_m": 0.0841, "end_effector_z_max_m": 0.1909, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b4d"}, "filepath": "data/cut_banana/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999947982411048, "task": "cut_banana", "episode_index": 22, "instruction": "Cut the banana with a knife.", "num_frames": 276, "duration": 13.8, "fps": 20.0, "end_effector_path_m": 0.1649, "end_effector_z_min_m": 0.0925, "end_effector_z_max_m": 0.2001, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b4e"}, "filepath": "data/cut_banana/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999367464189744, "task": "cut_banana", "episode_index": 23, "instruction": "Cut the banana with a knife.", "num_frames": 240, "duration": 12.0, "fps": 20.0, "end_effector_path_m": 0.1709, "end_effector_z_min_m": 0.0876, "end_effector_z_max_m": 0.2021, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b4f"}, "filepath": "data/cut_banana/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997039918596102, "task": "cut_banana", "episode_index": 24, "instruction": "Cut the banana with a knife.", "num_frames": 225, "duration": 11.25, "fps": 20.0, "end_effector_path_m": 0.1542, "end_effector_z_min_m": 0.0929, "end_effector_z_max_m": 0.2007, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b50"}, "filepath": "data/cut_banana/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991124323930701, "task": "cut_banana", "episode_index": 25, "instruction": "Cut the banana with a knife.", "num_frames": 283, "duration": 14.15, "fps": 20.0, "end_effector_path_m": 0.3003, "end_effector_z_min_m": 0.0936, "end_effector_z_max_m": 0.198, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b51"}, "filepath": "data/cut_banana/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995060029318019, "task": "cut_banana", "episode_index": 26, "instruction": "Cut the banana with a knife.", "num_frames": 195, "duration": 9.75, "fps": 20.0, "end_effector_path_m": 0.1455, "end_effector_z_min_m": 0.0872, "end_effector_z_max_m": 0.2021, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b52"}, "filepath": "data/cut_banana/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997013728443022, "task": "cut_banana", "episode_index": 27, "instruction": "Cut the banana with a knife.", "num_frames": 263, "duration": 13.15, "fps": 20.0, "end_effector_path_m": 0.1221, "end_effector_z_min_m": 0.0855, "end_effector_z_max_m": 0.1943, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b53"}, "filepath": "data/cut_banana/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992465217784278, "task": "cut_banana", "episode_index": 28, "instruction": "Cut the banana with a knife.", "num_frames": 208, "duration": 10.4, "fps": 20.0, "end_effector_path_m": 0.1239, "end_effector_z_min_m": 0.0863, "end_effector_z_max_m": 0.198, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b54"}, "filepath": "data/cut_banana/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993822615189508, "task": "cut_banana", "episode_index": 29, "instruction": "Cut the banana with a knife.", "num_frames": 316, "duration": 15.8, "fps": 20.0, "end_effector_path_m": 0.1775, "end_effector_z_min_m": 0.0872, "end_effector_z_max_m": 0.2024, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b55"}, "filepath": "data/cut_banana/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999436138489544, "task": "cut_banana", "episode_index": 30, "instruction": "Cut the banana with a knife.", "num_frames": 392, "duration": 19.6, "fps": 20.0, "end_effector_path_m": 0.2526, "end_effector_z_min_m": 0.0907, "end_effector_z_max_m": 0.1977, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b56"}, "filepath": "data/cut_banana/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999396853419826, "task": "cut_banana", "episode_index": 31, "instruction": "Cut the banana with a knife.", "num_frames": 313, "duration": 15.65, "fps": 20.0, "end_effector_path_m": 0.204, "end_effector_z_min_m": 0.0877, "end_effector_z_max_m": 0.1939, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b57"}, "filepath": "data/cut_banana/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997681087372859, "task": "cut_banana", "episode_index": 32, "instruction": "Cut the banana with a knife.", "num_frames": 230, "duration": 11.5, "fps": 20.0, "end_effector_path_m": 0.1412, "end_effector_z_min_m": 0.0861, "end_effector_z_max_m": 0.1854, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b58"}, "filepath": "data/cut_banana/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990018308295319, "task": "cut_banana", "episode_index": 33, "instruction": "Cut the banana with a knife.", "num_frames": 231, "duration": 11.55, "fps": 20.0, "end_effector_path_m": 0.1844, "end_effector_z_min_m": 0.0836, "end_effector_z_max_m": 0.1951, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.303Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.303Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b59"}, "filepath": "data/cut_banana/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991366608717135, "task": "cut_banana", "episode_index": 34, "instruction": "Cut the banana with a knife.", "num_frames": 163, "duration": 8.15, "fps": 20.0, "end_effector_path_m": 0.1502, "end_effector_z_min_m": 0.0858, "end_effector_z_max_m": 0.2015, "gripper_min": 0.0043, "gripper_max": 0.0043, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b5a"}, "filepath": "data/cut_banana/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992308767507939, "task": "cut_banana", "episode_index": 35, "instruction": "Cut the banana with a knife.", "num_frames": 588, "duration": 29.400000000000002, "fps": 20.0, "end_effector_path_m": 0.3746, "end_effector_z_min_m": 0.0911, "end_effector_z_max_m": 0.2006, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b5b"}, "filepath": "data/cut_banana/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999657712171204, "task": "cut_banana", "episode_index": 36, "instruction": "Cut the banana with a knife.", "num_frames": 482, "duration": 24.1, "fps": 20.0, "end_effector_path_m": 0.2586, "end_effector_z_min_m": 0.0859, "end_effector_z_max_m": 0.1958, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b5c"}, "filepath": "data/cut_banana/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991349093614126, "task": "cut_banana", "episode_index": 37, "instruction": "Cut the banana with a knife.", "num_frames": 330, "duration": 16.5, "fps": 20.0, "end_effector_path_m": 0.2511, "end_effector_z_min_m": 0.0865, "end_effector_z_max_m": 0.189, "gripper_min": 0.0044, "gripper_max": 0.0044, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b5d"}, "filepath": "data/insert_screw/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992002792622804, "task": "insert_screw", "episode_index": 0, "instruction": "Insert the nut onto the screw.", "num_frames": 617, "duration": 30.85, "fps": 20.0, "end_effector_path_m": 0.5513, "end_effector_z_min_m": 0.089, "end_effector_z_max_m": 0.2017, "gripper_min": 0.3519, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b5e"}, "filepath": "data/insert_screw/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990377541184748, "task": "insert_screw", "episode_index": 1, "instruction": "Insert the nut onto the screw.", "num_frames": 608, "duration": 30.400000000000002, "fps": 20.0, "end_effector_path_m": 0.5028, "end_effector_z_min_m": 0.0875, "end_effector_z_max_m": 0.2001, "gripper_min": 0.3469, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b5f"}, "filepath": "data/insert_screw/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999546170734099, "task": "insert_screw", "episode_index": 2, "instruction": "Insert the nut onto the screw.", "num_frames": 646, "duration": 32.3, "fps": 20.0, "end_effector_path_m": 0.5652, "end_effector_z_min_m": 0.0873, "end_effector_z_max_m": 0.1988, "gripper_min": 0.331, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b60"}, "filepath": "data/insert_screw/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992838400420714, "task": "insert_screw", "episode_index": 3, "instruction": "Insert the nut onto the screw.", "num_frames": 568, "duration": 28.400000000000002, "fps": 20.0, "end_effector_path_m": 0.4694, "end_effector_z_min_m": 0.0918, "end_effector_z_max_m": 0.2003, "gripper_min": 0.3189, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b61"}, "filepath": "data/insert_screw/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991101584339046, "task": "insert_screw", "episode_index": 4, "instruction": "Insert the nut onto the screw.", "num_frames": 708, "duration": 35.4, "fps": 20.0, "end_effector_path_m": 0.4825, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.1985, "gripper_min": 0.3405, "gripper_max": 1.0102, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b62"}, "filepath": "data/insert_screw/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999296092262391, "task": "insert_screw", "episode_index": 5, "instruction": "Insert the nut onto the screw.", "num_frames": 649, "duration": 32.449999999999996, "fps": 20.0, "end_effector_path_m": 0.4595, "end_effector_z_min_m": 0.0893, "end_effector_z_max_m": 0.196, "gripper_min": 0.3416, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b63"}, "filepath": "data/insert_screw/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993858767555042, "task": "insert_screw", "episode_index": 6, "instruction": "Insert the nut onto the screw.", "num_frames": 731, "duration": 36.55, "fps": 20.0, "end_effector_path_m": 0.492, "end_effector_z_min_m": 0.0895, "end_effector_z_max_m": 0.201, "gripper_min": 0.34, "gripper_max": 1.0111, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b64"}, "filepath": "data/insert_screw/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996907352278877, "task": "insert_screw", "episode_index": 7, "instruction": "Insert the nut onto the screw.", "num_frames": 810, "duration": 40.5, "fps": 20.0, "end_effector_path_m": 0.5391, "end_effector_z_min_m": 0.0904, "end_effector_z_max_m": 0.2003, "gripper_min": 0.3383, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.304Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.304Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b65"}, "filepath": "data/insert_screw/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999370261609787, "task": "insert_screw", "episode_index": 8, "instruction": "Insert the nut onto the screw.", "num_frames": 586, "duration": 29.3, "fps": 20.0, "end_effector_path_m": 0.533, "end_effector_z_min_m": 0.0839, "end_effector_z_max_m": 0.192, "gripper_min": 0.3434, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b66"}, "filepath": "data/insert_screw/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995087591873055, "task": "insert_screw", "episode_index": 9, "instruction": "Insert the nut onto the screw.", "num_frames": 651, "duration": 32.55, "fps": 20.0, "end_effector_path_m": 0.5658, "end_effector_z_min_m": 0.0875, "end_effector_z_max_m": 0.2024, "gripper_min": 0.3235, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b67"}, "filepath": "data/insert_screw/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991720586568138, "task": "insert_screw", "episode_index": 10, "instruction": "Insert the nut onto the screw.", "num_frames": 695, "duration": 34.75, "fps": 20.0, "end_effector_path_m": 0.628, "end_effector_z_min_m": 0.0851, "end_effector_z_max_m": 0.2014, "gripper_min": 0.3372, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b68"}, "filepath": "data/insert_screw/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990305780442629, "task": "insert_screw", "episode_index": 11, "instruction": "Insert the nut onto the screw.", "num_frames": 862, "duration": 43.099999999999994, "fps": 20.0, "end_effector_path_m": 0.6669, "end_effector_z_min_m": 0.0852, "end_effector_z_max_m": 0.2141, "gripper_min": 0.338, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b69"}, "filepath": "data/insert_screw/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993199982258548, "task": "insert_screw", "episode_index": 12, "instruction": "Insert the nut onto the screw.", "num_frames": 786, "duration": 39.3, "fps": 20.0, "end_effector_path_m": 0.5987, "end_effector_z_min_m": 0.0904, "end_effector_z_max_m": 0.2267, "gripper_min": 0.3122, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b6a"}, "filepath": "data/insert_screw/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994499485349914, "task": "insert_screw", "episode_index": 13, "instruction": "Insert the nut onto the screw.", "num_frames": 692, "duration": 34.599999999999994, "fps": 20.0, "end_effector_path_m": 0.5906, "end_effector_z_min_m": 0.0868, "end_effector_z_max_m": 0.2119, "gripper_min": 0.3271, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b6b"}, "filepath": "data/insert_screw/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990915763102071, "task": "insert_screw", "episode_index": 14, "instruction": "Insert the nut onto the screw.", "num_frames": 710, "duration": 35.5, "fps": 20.0, "end_effector_path_m": 0.6125, "end_effector_z_min_m": 0.0854, "end_effector_z_max_m": 0.2021, "gripper_min": 0.3461, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b6c"}, "filepath": "data/insert_screw/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997693500641459, "task": "insert_screw", "episode_index": 15, "instruction": "Insert the nut onto the screw.", "num_frames": 709, "duration": 35.449999999999996, "fps": 20.0, "end_effector_path_m": 0.6229, "end_effector_z_min_m": 0.0848, "end_effector_z_max_m": 0.2089, "gripper_min": 0.3505, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b6d"}, "filepath": "data/insert_screw/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991667985913901, "task": "insert_screw", "episode_index": 16, "instruction": "Insert the nut onto the screw.", "num_frames": 640, "duration": 32.0, "fps": 20.0, "end_effector_path_m": 0.6567, "end_effector_z_min_m": 0.0868, "end_effector_z_max_m": 0.2106, "gripper_min": 0.3426, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b6e"}, "filepath": "data/insert_screw/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999430166936109, "task": "insert_screw", "episode_index": 17, "instruction": "Insert the nut onto the screw.", "num_frames": 727, "duration": 36.349999999999994, "fps": 20.0, "end_effector_path_m": 0.6162, "end_effector_z_min_m": 0.0859, "end_effector_z_max_m": 0.2014, "gripper_min": 0.3465, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b6f"}, "filepath": "data/insert_screw/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996438153619165, "task": "insert_screw", "episode_index": 18, "instruction": "Insert the nut onto the screw.", "num_frames": 688, "duration": 34.4, "fps": 20.0, "end_effector_path_m": 0.6246, "end_effector_z_min_m": 0.0854, "end_effector_z_max_m": 0.2355, "gripper_min": 0.3423, "gripper_max": 1.0111, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b70"}, "filepath": "data/insert_screw/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997471437286861, "task": "insert_screw", "episode_index": 19, "instruction": "Insert the nut onto the screw.", "num_frames": 693, "duration": 34.65, "fps": 20.0, "end_effector_path_m": 0.6091, "end_effector_z_min_m": 0.089, "end_effector_z_max_m": 0.2093, "gripper_min": 0.3336, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b71"}, "filepath": "data/insert_screw/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991306724416079, "task": "insert_screw", "episode_index": 20, "instruction": "Insert the nut onto the screw.", "num_frames": 676, "duration": 33.8, "fps": 20.0, "end_effector_path_m": 0.6107, "end_effector_z_min_m": 0.0901, "end_effector_z_max_m": 0.2231, "gripper_min": 0.3175, "gripper_max": 1.0144, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.305Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.305Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b72"}, "filepath": "data/insert_screw/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993099846669844, "task": "insert_screw", "episode_index": 21, "instruction": "Insert the nut onto the screw.", "num_frames": 840, "duration": 42.0, "fps": 20.0, "end_effector_path_m": 0.6553, "end_effector_z_min_m": 0.0884, "end_effector_z_max_m": 0.2135, "gripper_min": 0.3219, "gripper_max": 1.0112, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b73"}, "filepath": "data/insert_screw/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991386062389899, "task": "insert_screw", "episode_index": 22, "instruction": "Insert the nut onto the screw.", "num_frames": 667, "duration": 33.349999999999994, "fps": 20.0, "end_effector_path_m": 0.6331, "end_effector_z_min_m": 0.0878, "end_effector_z_max_m": 0.2111, "gripper_min": 0.3225, "gripper_max": 1.011, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b74"}, "filepath": "data/insert_screw/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993201463136538, "task": "insert_screw", "episode_index": 23, "instruction": "Insert the nut onto the screw.", "num_frames": 755, "duration": 37.75, "fps": 20.0, "end_effector_path_m": 0.6932, "end_effector_z_min_m": 0.084, "end_effector_z_max_m": 0.2058, "gripper_min": 0.3296, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b75"}, "filepath": "data/insert_screw/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993428027384287, "task": "insert_screw", "episode_index": 24, "instruction": "Insert the nut onto the screw.", "num_frames": 758, "duration": 37.9, "fps": 20.0, "end_effector_path_m": 0.5439, "end_effector_z_min_m": 0.0892, "end_effector_z_max_m": 0.2019, "gripper_min": 0.3118, "gripper_max": 1.011, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b76"}, "filepath": "data/insert_screw/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990504299363747, "task": "insert_screw", "episode_index": 25, "instruction": "Insert the nut onto the screw.", "num_frames": 757, "duration": 37.849999999999994, "fps": 20.0, "end_effector_path_m": 0.6359, "end_effector_z_min_m": 0.087, "end_effector_z_max_m": 0.2184, "gripper_min": 0.3044, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b77"}, "filepath": "data/insert_screw/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993856981844585, "task": "insert_screw", "episode_index": 26, "instruction": "Insert the nut onto the screw.", "num_frames": 715, "duration": 35.75, "fps": 20.0, "end_effector_path_m": 0.6422, "end_effector_z_min_m": 0.088, "end_effector_z_max_m": 0.2136, "gripper_min": 0.2975, "gripper_max": 1.0118, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b78"}, "filepath": "data/insert_screw/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997590944650073, "task": "insert_screw", "episode_index": 27, "instruction": "Insert the nut onto the screw.", "num_frames": 678, "duration": 33.9, "fps": 20.0, "end_effector_path_m": 0.3196, "end_effector_z_min_m": 0.0876, "end_effector_z_max_m": 0.2021, "gripper_min": 0.014, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b79"}, "filepath": "data/insert_screw/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995662665886048, "task": "insert_screw", "episode_index": 28, "instruction": "Insert the nut onto the screw.", "num_frames": 537, "duration": 26.85, "fps": 20.0, "end_effector_path_m": 0.4628, "end_effector_z_min_m": 0.0857, "end_effector_z_max_m": 0.2047, "gripper_min": 0.3753, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b7a"}, "filepath": "data/insert_screw/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995971008434198, "task": "insert_screw", "episode_index": 29, "instruction": "Insert the nut onto the screw.", "num_frames": 600, "duration": 30.0, "fps": 20.0, "end_effector_path_m": 0.5468, "end_effector_z_min_m": 0.0851, "end_effector_z_max_m": 0.2011, "gripper_min": 0.3764, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b7b"}, "filepath": "data/insert_screw/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997968027721628, "task": "insert_screw", "episode_index": 30, "instruction": "Insert the nut onto the screw.", "num_frames": 689, "duration": 34.449999999999996, "fps": 20.0, "end_effector_path_m": 0.5863, "end_effector_z_min_m": 0.0829, "end_effector_z_max_m": 0.2037, "gripper_min": 0.384, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b7c"}, "filepath": "data/insert_screw/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999892119537339, "task": "insert_screw", "episode_index": 31, "instruction": "Insert the nut onto the screw.", "num_frames": 421, "duration": 21.05, "fps": 20.0, "end_effector_path_m": 0.52, "end_effector_z_min_m": 0.0848, "end_effector_z_max_m": 0.2018, "gripper_min": 0.3781, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b7d"}, "filepath": "data/insert_screw/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997275747686365, "task": "insert_screw", "episode_index": 32, "instruction": "Insert the nut onto the screw.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.5268, "end_effector_z_min_m": 0.0843, "end_effector_z_max_m": 0.2003, "gripper_min": 0.3792, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.306Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.306Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b7e"}, "filepath": "data/insert_screw/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992432667833541, "task": "insert_screw", "episode_index": 33, "instruction": "Insert the nut onto the screw.", "num_frames": 535, "duration": 26.75, "fps": 20.0, "end_effector_path_m": 0.5622, "end_effector_z_min_m": 0.0831, "end_effector_z_max_m": 0.2057, "gripper_min": 0.3832, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b7f"}, "filepath": "data/insert_screw/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991488567203332, "task": "insert_screw", "episode_index": 34, "instruction": "Insert the nut onto the screw.", "num_frames": 585, "duration": 29.25, "fps": 20.0, "end_effector_path_m": 0.5279, "end_effector_z_min_m": 0.0853, "end_effector_z_max_m": 0.2149, "gripper_min": 0.3756, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b80"}, "filepath": "data/insert_screw/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993870513633945, "task": "insert_screw", "episode_index": 35, "instruction": "Insert the nut onto the screw.", "num_frames": 530, "duration": 26.5, "fps": 20.0, "end_effector_path_m": 0.4933, "end_effector_z_min_m": 0.0835, "end_effector_z_max_m": 0.2004, "gripper_min": 0.3827, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b81"}, "filepath": "data/insert_screw/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993673404458412, "task": "insert_screw", "episode_index": 36, "instruction": "Insert the nut onto the screw.", "num_frames": 573, "duration": 28.650000000000002, "fps": 20.0, "end_effector_path_m": 0.4966, "end_effector_z_min_m": 0.085, "end_effector_z_max_m": 0.202, "gripper_min": 0.3769, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b82"}, "filepath": "data/insert_screw/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997163759734545, "task": "insert_screw", "episode_index": 37, "instruction": "Insert the nut onto the screw.", "num_frames": 545, "duration": 27.25, "fps": 20.0, "end_effector_path_m": 0.4787, "end_effector_z_min_m": 0.0841, "end_effector_z_max_m": 0.1972, "gripper_min": 0.3805, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b83"}, "filepath": "data/insert_screw/episode_038.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999125203064639, "task": "insert_screw", "episode_index": 38, "instruction": "Insert the nut onto the screw.", "num_frames": 514, "duration": 25.7, "fps": 20.0, "end_effector_path_m": 0.5135, "end_effector_z_min_m": 0.0854, "end_effector_z_max_m": 0.2055, "gripper_min": 0.3738, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b84"}, "filepath": "data/insert_screw/episode_039.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999058179501689, "task": "insert_screw", "episode_index": 39, "instruction": "Insert the nut onto the screw.", "num_frames": 692, "duration": 34.599999999999994, "fps": 20.0, "end_effector_path_m": 0.6039, "end_effector_z_min_m": 0.0841, "end_effector_z_max_m": 0.2046, "gripper_min": 0.3793, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b85"}, "filepath": "data/insert_screw/episode_040.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996326303547922, "task": "insert_screw", "episode_index": 40, "instruction": "Insert the nut onto the screw.", "num_frames": 628, "duration": 31.400000000000002, "fps": 20.0, "end_effector_path_m": 0.5374, "end_effector_z_min_m": 0.0852, "end_effector_z_max_m": 0.2064, "gripper_min": 0.3762, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b86"}, "filepath": "data/insert_screw/episode_041.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992805517772586, "task": "insert_screw", "episode_index": 41, "instruction": "Insert the nut onto the screw.", "num_frames": 559, "duration": 27.95, "fps": 20.0, "end_effector_path_m": 0.5462, "end_effector_z_min_m": 0.0846, "end_effector_z_max_m": 0.2136, "gripper_min": 0.3757, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b87"}, "filepath": "data/insert_screw/episode_042.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990863926803382, "task": "insert_screw", "episode_index": 42, "instruction": "Insert the nut onto the screw.", "num_frames": 503, "duration": 25.150000000000002, "fps": 20.0, "end_effector_path_m": 0.5778, "end_effector_z_min_m": 0.0854, "end_effector_z_max_m": 0.2009, "gripper_min": 0.3738, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b88"}, "filepath": "data/insert_screw/episode_043.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996365718539275, "task": "insert_screw", "episode_index": 43, "instruction": "Insert the nut onto the screw.", "num_frames": 602, "duration": 30.1, "fps": 20.0, "end_effector_path_m": 0.6384, "end_effector_z_min_m": 0.0846, "end_effector_z_max_m": 0.197, "gripper_min": 0.3825, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b89"}, "filepath": "data/insert_screw/episode_044.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994188640068129, "task": "insert_screw", "episode_index": 44, "instruction": "Insert the nut onto the screw.", "num_frames": 518, "duration": 25.900000000000002, "fps": 20.0, "end_effector_path_m": 0.5844, "end_effector_z_min_m": 0.0852, "end_effector_z_max_m": 0.1976, "gripper_min": 0.3813, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b8a"}, "filepath": "data/insert_screw/episode_045.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990528671974697, "task": "insert_screw", "episode_index": 45, "instruction": "Insert the nut onto the screw.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.5369, "end_effector_z_min_m": 0.0913, "end_effector_z_max_m": 0.2007, "gripper_min": 0.3694, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.307Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.307Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b8b"}, "filepath": "data/insert_screw/episode_046.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996810081239819, "task": "insert_screw", "episode_index": 46, "instruction": "Insert the nut onto the screw.", "num_frames": 562, "duration": 28.1, "fps": 20.0, "end_effector_path_m": 0.5631, "end_effector_z_min_m": 0.0857, "end_effector_z_max_m": 0.2066, "gripper_min": 0.3783, "gripper_max": 1.0098, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b8c"}, "filepath": "data/insert_screw/episode_047.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996433253473046, "task": "insert_screw", "episode_index": 47, "instruction": "Insert the nut onto the screw.", "num_frames": 507, "duration": 25.35, "fps": 20.0, "end_effector_path_m": 0.5371, "end_effector_z_min_m": 0.0849, "end_effector_z_max_m": 0.1948, "gripper_min": 0.3796, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b8d"}, "filepath": "data/insert_usb/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990259561553891, "task": "insert_usb", "episode_index": 0, "instruction": "Insert the USB plug into the port.", "num_frames": 221, "duration": 11.05, "fps": 20.0, "end_effector_path_m": 0.1816, "end_effector_z_min_m": 0.153, "end_effector_z_max_m": 0.1991, "gripper_min": 0.1335, "gripper_max": 0.1336, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b8e"}, "filepath": "data/insert_usb/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993192610085354, "task": "insert_usb", "episode_index": 1, "instruction": "Insert the USB plug into the port.", "num_frames": 380, "duration": 19.0, "fps": 20.0, "end_effector_path_m": 0.2714, "end_effector_z_min_m": 0.1523, "end_effector_z_max_m": 0.1972, "gripper_min": 0.1336, "gripper_max": 0.1337, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b8f"}, "filepath": "data/pick_bread/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990832557061806, "task": "pick_bread", "episode_index": 0, "instruction": "Pick up the baguette.", "num_frames": 923, "duration": 46.15, "fps": 20.0, "end_effector_path_m": 1.7305, "end_effector_z_min_m": 0.185, "end_effector_z_max_m": 0.3883, "gripper_min": 0.1827, "gripper_max": 1.0257, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b90"}, "filepath": "data/pick_bread/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996283176294339, "task": "pick_bread", "episode_index": 1, "instruction": "Pick up the baguette.", "num_frames": 939, "duration": 46.949999999999996, "fps": 20.0, "end_effector_path_m": 1.7418, "end_effector_z_min_m": 0.1786, "end_effector_z_max_m": 0.3683, "gripper_min": 0.1766, "gripper_max": 1.026, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b91"}, "filepath": "data/pick_bread/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999634063893478, "task": "pick_bread", "episode_index": 2, "instruction": "Pick up the baguette.", "num_frames": 1043, "duration": 52.15, "fps": 20.0, "end_effector_path_m": 1.9103, "end_effector_z_min_m": 0.1785, "end_effector_z_max_m": 0.3727, "gripper_min": 0.1697, "gripper_max": 1.011, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b92"}, "filepath": "data/pick_bread/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993982458167343, "task": "pick_bread", "episode_index": 3, "instruction": "Pick up the baguette.", "num_frames": 1080, "duration": 54.0, "fps": 20.0, "end_effector_path_m": 1.8729, "end_effector_z_min_m": 0.1763, "end_effector_z_max_m": 0.3785, "gripper_min": 0.187, "gripper_max": 1.0163, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b93"}, "filepath": "data/pick_bread/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994465938920053, "task": "pick_bread", "episode_index": 4, "instruction": "Pick up the baguette.", "num_frames": 930, "duration": 46.5, "fps": 20.0, "end_effector_path_m": 1.825, "end_effector_z_min_m": 0.177, "end_effector_z_max_m": 0.3791, "gripper_min": 0.1697, "gripper_max": 1.0188, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b94"}, "filepath": "data/pick_bread/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996170890975754, "task": "pick_bread", "episode_index": 5, "instruction": "Pick up the baguette.", "num_frames": 979, "duration": 48.949999999999996, "fps": 20.0, "end_effector_path_m": 1.8334, "end_effector_z_min_m": 0.1845, "end_effector_z_max_m": 0.375, "gripper_min": 0.1875, "gripper_max": 1.015, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b95"}, "filepath": "data/pick_bread/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996807008895008, "task": "pick_bread", "episode_index": 6, "instruction": "Pick up the baguette.", "num_frames": 925, "duration": 46.25, "fps": 20.0, "end_effector_path_m": 1.7707, "end_effector_z_min_m": 0.184, "end_effector_z_max_m": 0.3777, "gripper_min": 0.1832, "gripper_max": 1.0175, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b96"}, "filepath": "data/pick_bread/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997980912868897, "task": "pick_bread", "episode_index": 7, "instruction": "Pick up the baguette.", "num_frames": 952, "duration": 47.599999999999994, "fps": 20.0, "end_effector_path_m": 1.8433, "end_effector_z_min_m": 0.1656, "end_effector_z_max_m": 0.3727, "gripper_min": 0.1988, "gripper_max": 1.0178, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.308Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.308Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b97"}, "filepath": "data/pick_bread/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999256785242665, "task": "pick_bread", "episode_index": 8, "instruction": "Pick up the baguette.", "num_frames": 917, "duration": 45.849999999999994, "fps": 20.0, "end_effector_path_m": 1.7653, "end_effector_z_min_m": 0.1701, "end_effector_z_max_m": 0.3664, "gripper_min": 0.1881, "gripper_max": 1.0268, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b98"}, "filepath": "data/pick_bread/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995835716461948, "task": "pick_bread", "episode_index": 9, "instruction": "Pick up the baguette.", "num_frames": 1086, "duration": 54.3, "fps": 20.0, "end_effector_path_m": 1.7312, "end_effector_z_min_m": 0.1894, "end_effector_z_max_m": 0.3906, "gripper_min": 0.1717, "gripper_max": 1.0149, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b99"}, "filepath": "data/pick_bread/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999814625141932, "task": "pick_bread", "episode_index": 10, "instruction": "Pick up the baguette.", "num_frames": 1508, "duration": 75.39999999999999, "fps": 20.0, "end_effector_path_m": 2.0142, "end_effector_z_min_m": 0.1982, "end_effector_z_max_m": 0.3709, "gripper_min": 0.1824, "gripper_max": 1.0208, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b9a"}, "filepath": "data/pick_bread/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993318649287105, "task": "pick_bread", "episode_index": 11, "instruction": "Pick up the baguette.", "num_frames": 1370, "duration": 68.5, "fps": 20.0, "end_effector_path_m": 1.8072, "end_effector_z_min_m": 0.1923, "end_effector_z_max_m": 0.3795, "gripper_min": 0.1308, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b9b"}, "filepath": "data/pick_bread/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990342150981354, "task": "pick_bread", "episode_index": 12, "instruction": "Pick up the baguette.", "num_frames": 1308, "duration": 65.39999999999999, "fps": 20.0, "end_effector_path_m": 1.8153, "end_effector_z_min_m": 0.1992, "end_effector_z_max_m": 0.3858, "gripper_min": 0.1862, "gripper_max": 1.0267, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b9c"}, "filepath": "data/pick_bread/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992778265083239, "task": "pick_bread", "episode_index": 13, "instruction": "Pick up the baguette.", "num_frames": 1314, "duration": 65.7, "fps": 20.0, "end_effector_path_m": 1.8587, "end_effector_z_min_m": 0.2004, "end_effector_z_max_m": 0.3719, "gripper_min": 0.1764, "gripper_max": 1.0121, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b9d"}, "filepath": "data/pick_bread/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990778685974495, "task": "pick_bread", "episode_index": 14, "instruction": "Pick up the baguette.", "num_frames": 1326, "duration": 66.3, "fps": 20.0, "end_effector_path_m": 1.9345, "end_effector_z_min_m": 0.1996, "end_effector_z_max_m": 0.3585, "gripper_min": 0.1844, "gripper_max": 1.0164, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b9e"}, "filepath": "data/pick_bread/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997733005070129, "task": "pick_bread", "episode_index": 15, "instruction": "Pick up the baguette.", "num_frames": 1200, "duration": 60.0, "fps": 20.0, "end_effector_path_m": 1.8467, "end_effector_z_min_m": 0.1992, "end_effector_z_max_m": 0.3764, "gripper_min": 0.1895, "gripper_max": 1.0165, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849b9f"}, "filepath": "data/pick_bread/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992684362123412, "task": "pick_bread", "episode_index": 16, "instruction": "Pick up the baguette.", "num_frames": 1213, "duration": 60.65, "fps": 20.0, "end_effector_path_m": 1.7523, "end_effector_z_min_m": 0.1994, "end_effector_z_max_m": 0.3778, "gripper_min": 0.1629, "gripper_max": 1.0106, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba0"}, "filepath": "data/pick_bread/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997138928763668, "task": "pick_bread", "episode_index": 17, "instruction": "Pick up the baguette.", "num_frames": 1299, "duration": 64.95, "fps": 20.0, "end_effector_path_m": 1.793, "end_effector_z_min_m": 0.2012, "end_effector_z_max_m": 0.3895, "gripper_min": 0.1484, "gripper_max": 1.0116, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.309Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.309Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba1"}, "filepath": "data/pick_bread/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990384444710801, "task": "pick_bread", "episode_index": 18, "instruction": "Pick up the baguette.", "num_frames": 1224, "duration": 61.199999999999996, "fps": 20.0, "end_effector_path_m": 1.6686, "end_effector_z_min_m": 0.1992, "end_effector_z_max_m": 0.3759, "gripper_min": 0.1374, "gripper_max": 1.023, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba2"}, "filepath": "data/pick_bread/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992883956350254, "task": "pick_bread", "episode_index": 19, "instruction": "Pick up the baguette.", "num_frames": 1270, "duration": 63.5, "fps": 20.0, "end_effector_path_m": 1.8411, "end_effector_z_min_m": 0.1922, "end_effector_z_max_m": 0.3815, "gripper_min": 0.1349, "gripper_max": 1.0209, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba3"}, "filepath": "data/pick_bread/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992415183228234, "task": "pick_bread", "episode_index": 20, "instruction": "Pick up the baguette.", "num_frames": 1096, "duration": 54.8, "fps": 20.0, "end_effector_path_m": 1.5866, "end_effector_z_min_m": 0.1959, "end_effector_z_max_m": 0.3911, "gripper_min": 0.133, "gripper_max": 1.0234, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba4"}, "filepath": "data/pick_bread/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991041492840353, "task": "pick_bread", "episode_index": 21, "instruction": "Pick up the baguette.", "num_frames": 1240, "duration": 62.0, "fps": 20.0, "end_effector_path_m": 1.7283, "end_effector_z_min_m": 0.193, "end_effector_z_max_m": 0.3622, "gripper_min": 0.1737, "gripper_max": 1.0247, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba5"}, "filepath": "data/pick_bread/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999280729816905, "task": "pick_bread", "episode_index": 22, "instruction": "Pick up the baguette.", "num_frames": 1279, "duration": 63.949999999999996, "fps": 20.0, "end_effector_path_m": 1.8083, "end_effector_z_min_m": 0.2029, "end_effector_z_max_m": 0.3711, "gripper_min": 0.1702, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba6"}, "filepath": "data/pick_bread/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999084246453359, "task": "pick_bread", "episode_index": 23, "instruction": "Pick up the baguette.", "num_frames": 1249, "duration": 62.449999999999996, "fps": 20.0, "end_effector_path_m": 1.8363, "end_effector_z_min_m": 0.2021, "end_effector_z_max_m": 0.3741, "gripper_min": 0.1613, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba7"}, "filepath": "data/pick_bread/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991738039505181, "task": "pick_bread", "episode_index": 24, "instruction": "Pick up the baguette.", "num_frames": 1267, "duration": 63.349999999999994, "fps": 20.0, "end_effector_path_m": 1.7343, "end_effector_z_min_m": 0.1924, "end_effector_z_max_m": 0.3829, "gripper_min": 0.1656, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba8"}, "filepath": "data/pick_bread/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999602098784991, "task": "pick_bread", "episode_index": 25, "instruction": "Pick up the baguette.", "num_frames": 1270, "duration": 63.5, "fps": 20.0, "end_effector_path_m": 1.9172, "end_effector_z_min_m": 0.1983, "end_effector_z_max_m": 0.3832, "gripper_min": 0.1695, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ba9"}, "filepath": "data/pick_bread/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990475994064625, "task": "pick_bread", "episode_index": 26, "instruction": "Pick up the baguette.", "num_frames": 1167, "duration": 58.349999999999994, "fps": 20.0, "end_effector_path_m": 1.8002, "end_effector_z_min_m": 0.1932, "end_effector_z_max_m": 0.3777, "gripper_min": 0.1621, "gripper_max": 1.0174, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849baa"}, "filepath": "data/pick_bread/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992733180188952, "task": "pick_bread", "episode_index": 27, "instruction": "Pick up the baguette.", "num_frames": 1239, "duration": 61.949999999999996, "fps": 20.0, "end_effector_path_m": 1.6883, "end_effector_z_min_m": 0.187, "end_effector_z_max_m": 0.3733, "gripper_min": 0.158, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.310Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.310Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bab"}, "filepath": "data/pick_bread/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992993066785834, "task": "pick_bread", "episode_index": 28, "instruction": "Pick up the baguette.", "num_frames": 1153, "duration": 57.65, "fps": 20.0, "end_effector_path_m": 1.7199, "end_effector_z_min_m": 0.1898, "end_effector_z_max_m": 0.3744, "gripper_min": 0.1621, "gripper_max": 1.0134, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.321Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.321Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bac"}, "filepath": "data/pick_bread/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992733255969543, "task": "pick_bread", "episode_index": 29, "instruction": "Pick up the baguette.", "num_frames": 1084, "duration": 54.199999999999996, "fps": 20.0, "end_effector_path_m": 1.6832, "end_effector_z_min_m": 0.197, "end_effector_z_max_m": 0.378, "gripper_min": 0.1603, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bad"}, "filepath": "data/pick_bread/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996110321834982, "task": "pick_bread", "episode_index": 30, "instruction": "Pick up the baguette.", "num_frames": 1111, "duration": 55.55, "fps": 20.0, "end_effector_path_m": 1.6525, "end_effector_z_min_m": 0.1991, "end_effector_z_max_m": 0.3844, "gripper_min": 0.1564, "gripper_max": 1.0263, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bae"}, "filepath": "data/pick_bread/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999631002708146, "task": "pick_bread", "episode_index": 31, "instruction": "Pick up the baguette.", "num_frames": 1131, "duration": 56.55, "fps": 20.0, "end_effector_path_m": 1.6885, "end_effector_z_min_m": 0.1807, "end_effector_z_max_m": 0.3864, "gripper_min": 0.1679, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849baf"}, "filepath": "data/pick_bread/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998563035521384, "task": "pick_bread", "episode_index": 32, "instruction": "Pick up the baguette.", "num_frames": 1150, "duration": 57.5, "fps": 20.0, "end_effector_path_m": 1.5614, "end_effector_z_min_m": 0.2001, "end_effector_z_max_m": 0.3789, "gripper_min": 0.1503, "gripper_max": 1.0262, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb0"}, "filepath": "data/pick_bread/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999120216257698, "task": "pick_bread", "episode_index": 33, "instruction": "Pick up the baguette.", "num_frames": 1197, "duration": 59.849999999999994, "fps": 20.0, "end_effector_path_m": 1.8413, "end_effector_z_min_m": 0.2004, "end_effector_z_max_m": 0.3851, "gripper_min": 0.1467, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb1"}, "filepath": "data/pick_bread/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990766370249925, "task": "pick_bread", "episode_index": 34, "instruction": "Pick up the baguette.", "num_frames": 1078, "duration": 53.9, "fps": 20.0, "end_effector_path_m": 1.6511, "end_effector_z_min_m": 0.2003, "end_effector_z_max_m": 0.3702, "gripper_min": 0.1747, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb2"}, "filepath": "data/pick_bread/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990442631642543, "task": "pick_bread", "episode_index": 35, "instruction": "Pick up the baguette.", "num_frames": 1154, "duration": 57.699999999999996, "fps": 20.0, "end_effector_path_m": 1.7106, "end_effector_z_min_m": 0.2012, "end_effector_z_max_m": 0.3673, "gripper_min": 0.1606, "gripper_max": 1.0222, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb3"}, "filepath": "data/pick_bread/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995885333144557, "task": "pick_bread", "episode_index": 36, "instruction": "Pick up the baguette.", "num_frames": 1088, "duration": 54.4, "fps": 20.0, "end_effector_path_m": 1.6274, "end_effector_z_min_m": 0.2032, "end_effector_z_max_m": 0.3762, "gripper_min": 0.1661, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb4"}, "filepath": "data/pick_bread/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992201351569716, "task": "pick_bread", "episode_index": 37, "instruction": "Pick up the baguette.", "num_frames": 1155, "duration": 57.75, "fps": 20.0, "end_effector_path_m": 1.6702, "end_effector_z_min_m": 0.197, "end_effector_z_max_m": 0.3739, "gripper_min": 0.169, "gripper_max": 1.0162, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb5"}, "filepath": "data/pick_bread/episode_038.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994317902776393, "task": "pick_bread", "episode_index": 38, "instruction": "Pick up the baguette.", "num_frames": 1214, "duration": 60.699999999999996, "fps": 20.0, "end_effector_path_m": 1.7394, "end_effector_z_min_m": 0.1905, "end_effector_z_max_m": 0.3751, "gripper_min": 0.1623, "gripper_max": 1.0179, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb6"}, "filepath": "data/pick_bread/episode_039.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999356187846471, "task": "pick_bread", "episode_index": 39, "instruction": "Pick up the baguette.", "num_frames": 1111, "duration": 55.55, "fps": 20.0, "end_effector_path_m": 1.6374, "end_effector_z_min_m": 0.1974, "end_effector_z_max_m": 0.3804, "gripper_min": 0.1611, "gripper_max": 1.0192, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb7"}, "filepath": "data/pick_bread/episode_040.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999101371972867, "task": "pick_bread", "episode_index": 40, "instruction": "Pick up the baguette.", "num_frames": 1131, "duration": 56.55, "fps": 20.0, "end_effector_path_m": 1.6396, "end_effector_z_min_m": 0.199, "end_effector_z_max_m": 0.3828, "gripper_min": 0.1452, "gripper_max": 1.0126, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb8"}, "filepath": "data/pick_bread/episode_041.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999069617279344, "task": "pick_bread", "episode_index": 41, "instruction": "Pick up the baguette.", "num_frames": 1184, "duration": 59.199999999999996, "fps": 20.0, "end_effector_path_m": 1.7161, "end_effector_z_min_m": 0.1989, "end_effector_z_max_m": 0.3805, "gripper_min": 0.1643, "gripper_max": 1.0194, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.322Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.322Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bb9"}, "filepath": "data/pick_bread/episode_042.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995146470961238, "task": "pick_bread", "episode_index": 42, "instruction": "Pick up the baguette.", "num_frames": 1084, "duration": 54.199999999999996, "fps": 20.0, "end_effector_path_m": 1.7155, "end_effector_z_min_m": 0.2014, "end_effector_z_max_m": 0.3748, "gripper_min": 0.1765, "gripper_max": 1.0138, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bba"}, "filepath": "data/pick_bread/episode_043.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999799690984007, "task": "pick_bread", "episode_index": 43, "instruction": "Pick up the baguette.", "num_frames": 1092, "duration": 54.599999999999994, "fps": 20.0, "end_effector_path_m": 1.5641, "end_effector_z_min_m": 0.2004, "end_effector_z_max_m": 0.3742, "gripper_min": 0.1631, "gripper_max": 1.0165, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bbb"}, "filepath": "data/pick_bread/episode_044.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998033120962672, "task": "pick_bread", "episode_index": 44, "instruction": "Pick up the baguette.", "num_frames": 1141, "duration": 57.05, "fps": 20.0, "end_effector_path_m": 1.6267, "end_effector_z_min_m": 0.2005, "end_effector_z_max_m": 0.3572, "gripper_min": 0.1742, "gripper_max": 1.0182, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bbc"}, "filepath": "data/pick_bread/episode_045.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991711838474862, "task": "pick_bread", "episode_index": 45, "instruction": "Pick up the baguette.", "num_frames": 1141, "duration": 57.05, "fps": 20.0, "end_effector_path_m": 1.6684, "end_effector_z_min_m": 0.1983, "end_effector_z_max_m": 0.3823, "gripper_min": 0.1519, "gripper_max": 1.0183, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bbd"}, "filepath": "data/pick_bread/episode_046.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991240891588753, "task": "pick_bread", "episode_index": 46, "instruction": "Pick up the baguette.", "num_frames": 1240, "duration": 62.0, "fps": 20.0, "end_effector_path_m": 1.7222, "end_effector_z_min_m": 0.1972, "end_effector_z_max_m": 0.3806, "gripper_min": 0.1712, "gripper_max": 1.0108, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bbe"}, "filepath": "data/pick_bread/episode_047.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999607302363402, "task": "pick_bread", "episode_index": 47, "instruction": "Pick up the baguette.", "num_frames": 1138, "duration": 56.9, "fps": 20.0, "end_effector_path_m": 1.6483, "end_effector_z_min_m": 0.1971, "end_effector_z_max_m": 0.3824, "gripper_min": 0.1705, "gripper_max": 1.0106, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bbf"}, "filepath": "data/pick_bread/episode_048.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997637427923706, "task": "pick_bread", "episode_index": 48, "instruction": "Pick up the baguette.", "num_frames": 1110, "duration": 55.5, "fps": 20.0, "end_effector_path_m": 1.7284, "end_effector_z_min_m": 0.2014, "end_effector_z_max_m": 0.3797, "gripper_min": 0.152, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc0"}, "filepath": "data/pick_bread/episode_049.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995952954806913, "task": "pick_bread", "episode_index": 49, "instruction": "Pick up the baguette.", "num_frames": 1136, "duration": 56.8, "fps": 20.0, "end_effector_path_m": 1.784, "end_effector_z_min_m": 0.1961, "end_effector_z_max_m": 0.378, "gripper_min": 0.1352, "gripper_max": 1.0197, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc1"}, "filepath": "data/pick_bread/episode_050.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990212144177334, "task": "pick_bread", "episode_index": 50, "instruction": "Pick up the baguette.", "num_frames": 1270, "duration": 63.5, "fps": 20.0, "end_effector_path_m": 1.8709, "end_effector_z_min_m": 0.1982, "end_effector_z_max_m": 0.3763, "gripper_min": 0.1519, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc2"}, "filepath": "data/pick_bread/episode_051.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996760517487848, "task": "pick_bread", "episode_index": 51, "instruction": "Pick up the baguette.", "num_frames": 940, "duration": 47.0, "fps": 20.0, "end_effector_path_m": 1.5981, "end_effector_z_min_m": 0.2011, "end_effector_z_max_m": 0.3814, "gripper_min": 0.1686, "gripper_max": 1.0107, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc3"}, "filepath": "data/pick_bread/episode_052.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994235626463535, "task": "pick_bread", "episode_index": 52, "instruction": "Pick up the baguette.", "num_frames": 1000, "duration": 50.0, "fps": 20.0, "end_effector_path_m": 1.712, "end_effector_z_min_m": 0.2005, "end_effector_z_max_m": 0.376, "gripper_min": 0.1619, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc4"}, "filepath": "data/pick_bread/episode_053.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995733973138288, "task": "pick_bread", "episode_index": 53, "instruction": "Pick up the baguette.", "num_frames": 928, "duration": 46.4, "fps": 20.0, "end_effector_path_m": 1.9878, "end_effector_z_min_m": 0.1792, "end_effector_z_max_m": 0.3979, "gripper_min": 0.1762, "gripper_max": 1.0154, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.323Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.323Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc5"}, "filepath": "data/pick_bread/episode_054.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999806964458637, "task": "pick_bread", "episode_index": 54, "instruction": "Pick up the baguette.", "num_frames": 938, "duration": 46.9, "fps": 20.0, "end_effector_path_m": 1.8241, "end_effector_z_min_m": 0.1809, "end_effector_z_max_m": 0.3701, "gripper_min": 0.1689, "gripper_max": 1.0108, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc6"}, "filepath": "data/pick_bread/episode_055.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995813266331134, "task": "pick_bread", "episode_index": 55, "instruction": "Pick up the baguette.", "num_frames": 1000, "duration": 50.0, "fps": 20.0, "end_effector_path_m": 1.9041, "end_effector_z_min_m": 0.1847, "end_effector_z_max_m": 0.3718, "gripper_min": 0.1685, "gripper_max": 1.0206, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc7"}, "filepath": "data/pick_bread/episode_056.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996505904204553, "task": "pick_bread", "episode_index": 56, "instruction": "Pick up the baguette.", "num_frames": 1125, "duration": 56.25, "fps": 20.0, "end_effector_path_m": 1.7144, "end_effector_z_min_m": 0.1883, "end_effector_z_max_m": 0.374, "gripper_min": 0.1745, "gripper_max": 1.0186, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc8"}, "filepath": "data/pick_bread/episode_057.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990781154892134, "task": "pick_bread", "episode_index": 57, "instruction": "Pick up the baguette.", "num_frames": 1139, "duration": 56.949999999999996, "fps": 20.0, "end_effector_path_m": 1.8336, "end_effector_z_min_m": 0.1935, "end_effector_z_max_m": 0.3854, "gripper_min": 0.1885, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bc9"}, "filepath": "data/pick_bread/episode_058.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996775294985882, "task": "pick_bread", "episode_index": 58, "instruction": "Pick up the baguette.", "num_frames": 878, "duration": 43.9, "fps": 20.0, "end_effector_path_m": 1.7035, "end_effector_z_min_m": 0.1818, "end_effector_z_max_m": 0.3824, "gripper_min": 0.1712, "gripper_max": 1.025, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bca"}, "filepath": "data/pick_bread/episode_059.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996163606909211, "task": "pick_bread", "episode_index": 59, "instruction": "Pick up the baguette.", "num_frames": 1001, "duration": 50.05, "fps": 20.0, "end_effector_path_m": 1.9255, "end_effector_z_min_m": 0.1734, "end_effector_z_max_m": 0.3906, "gripper_min": 0.1665, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bcb"}, "filepath": "data/pick_bread/episode_060.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997012192454942, "task": "pick_bread", "episode_index": 60, "instruction": "Pick up the baguette.", "num_frames": 1017, "duration": 50.849999999999994, "fps": 20.0, "end_effector_path_m": 1.9601, "end_effector_z_min_m": 0.1758, "end_effector_z_max_m": 0.373, "gripper_min": 0.1808, "gripper_max": 1.0239, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bcc"}, "filepath": "data/pick_bread/episode_061.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997361126379883, "task": "pick_bread", "episode_index": 61, "instruction": "Pick up the baguette.", "num_frames": 1040, "duration": 52.0, "fps": 20.0, "end_effector_path_m": 1.9265, "end_effector_z_min_m": 0.1751, "end_effector_z_max_m": 0.3816, "gripper_min": 0.1486, "gripper_max": 1.0145, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bcd"}, "filepath": "data/pick_bread/episode_062.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994483134074429, "task": "pick_bread", "episode_index": 62, "instruction": "Pick up the baguette.", "num_frames": 965, "duration": 48.25, "fps": 20.0, "end_effector_path_m": 1.8595, "end_effector_z_min_m": 0.1766, "end_effector_z_max_m": 0.3746, "gripper_min": 0.1742, "gripper_max": 1.0201, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bce"}, "filepath": "data/pick_bread/episode_063.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991823629710982, "task": "pick_bread", "episode_index": 63, "instruction": "Pick up the baguette.", "num_frames": 986, "duration": 49.3, "fps": 20.0, "end_effector_path_m": 1.796, "end_effector_z_min_m": 0.1931, "end_effector_z_max_m": 0.3815, "gripper_min": -0.0, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bcf"}, "filepath": "data/pick_bread/episode_064.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999236947962837, "task": "pick_bread", "episode_index": 64, "instruction": "Pick up the baguette.", "num_frames": 926, "duration": 46.3, "fps": 20.0, "end_effector_path_m": 1.9145, "end_effector_z_min_m": 0.1591, "end_effector_z_max_m": 0.3763, "gripper_min": -0.0, "gripper_max": 0.8322, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd0"}, "filepath": "data/pick_bread/episode_065.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998801789742792, "task": "pick_bread", "episode_index": 65, "instruction": "Pick up the baguette.", "num_frames": 1116, "duration": 55.8, "fps": 20.0, "end_effector_path_m": 2.2456, "end_effector_z_min_m": 0.1795, "end_effector_z_max_m": 0.3881, "gripper_min": 0.0049, "gripper_max": 0.8423, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd1"}, "filepath": "data/pick_bread/episode_066.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998818185948374, "task": "pick_bread", "episode_index": 66, "instruction": "Pick up the baguette.", "num_frames": 979, "duration": 48.949999999999996, "fps": 20.0, "end_effector_path_m": 2.0423, "end_effector_z_min_m": 0.1728, "end_effector_z_max_m": 0.3755, "gripper_min": -0.0, "gripper_max": 0.8448, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.324Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.324Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd2"}, "filepath": "data/pick_bread/episode_067.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997480592464298, "task": "pick_bread", "episode_index": 67, "instruction": "Pick up the baguette.", "num_frames": 1021, "duration": 51.05, "fps": 20.0, "end_effector_path_m": 1.9726, "end_effector_z_min_m": 0.1755, "end_effector_z_max_m": 0.3793, "gripper_min": -0.0, "gripper_max": 0.8335, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd3"}, "filepath": "data/pick_bread/episode_068.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993984565098468, "task": "pick_bread", "episode_index": 68, "instruction": "Pick up the baguette.", "num_frames": 917, "duration": 45.849999999999994, "fps": 20.0, "end_effector_path_m": 2.0362, "end_effector_z_min_m": 0.1778, "end_effector_z_max_m": 0.3762, "gripper_min": 0.0, "gripper_max": 0.8454, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd4"}, "filepath": "data/pick_bread/episode_069.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991603407970076, "task": "pick_bread", "episode_index": 69, "instruction": "Pick up the baguette.", "num_frames": 906, "duration": 45.3, "fps": 20.0, "end_effector_path_m": 1.7978, "end_effector_z_min_m": 0.1967, "end_effector_z_max_m": 0.3771, "gripper_min": -0.0, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd5"}, "filepath": "data/pick_bread/episode_070.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994388206291281, "task": "pick_bread", "episode_index": 70, "instruction": "Pick up the baguette.", "num_frames": 1065, "duration": 53.25, "fps": 20.0, "end_effector_path_m": 1.879, "end_effector_z_min_m": 0.1795, "end_effector_z_max_m": 0.3848, "gripper_min": -0.0, "gripper_max": 0.8371, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd6"}, "filepath": "data/pick_bread/episode_071.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999850096644014, "task": "pick_bread", "episode_index": 71, "instruction": "Pick up the baguette.", "num_frames": 992, "duration": 49.599999999999994, "fps": 20.0, "end_effector_path_m": 2.1298, "end_effector_z_min_m": 0.1845, "end_effector_z_max_m": 0.3779, "gripper_min": 0.0, "gripper_max": 0.8367, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd7"}, "filepath": "data/pick_bread/episode_072.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993392103464551, "task": "pick_bread", "episode_index": 72, "instruction": "Pick up the baguette.", "num_frames": 1015, "duration": 50.75, "fps": 20.0, "end_effector_path_m": 1.9839, "end_effector_z_min_m": 0.1765, "end_effector_z_max_m": 0.3819, "gripper_min": -0.0, "gripper_max": 0.8379, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd8"}, "filepath": "data/pick_bread/episode_073.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994384615104908, "task": "pick_bread", "episode_index": 73, "instruction": "Pick up the baguette.", "num_frames": 905, "duration": 45.25, "fps": 20.0, "end_effector_path_m": 1.9135, "end_effector_z_min_m": 0.1942, "end_effector_z_max_m": 0.3703, "gripper_min": 0.0, "gripper_max": 0.8299, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bd9"}, "filepath": "data/pick_bread/episode_074.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999523846794643, "task": "pick_bread", "episode_index": 74, "instruction": "Pick up the baguette.", "num_frames": 1051, "duration": 52.55, "fps": 20.0, "end_effector_path_m": 1.9985, "end_effector_z_min_m": 0.1672, "end_effector_z_max_m": 0.3796, "gripper_min": -0.0, "gripper_max": 0.844, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bda"}, "filepath": "data/pick_bread/episode_075.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996047507606035, "task": "pick_bread", "episode_index": 75, "instruction": "Pick up the baguette.", "num_frames": 986, "duration": 49.3, "fps": 20.0, "end_effector_path_m": 2.0192, "end_effector_z_min_m": 0.1817, "end_effector_z_max_m": 0.3898, "gripper_min": -0.0, "gripper_max": 0.8367, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bdb"}, "filepath": "data/pick_bread/episode_076.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992921257173658, "task": "pick_bread", "episode_index": 76, "instruction": "Pick up the baguette.", "num_frames": 1220, "duration": 61.0, "fps": 20.0, "end_effector_path_m": 2.1691, "end_effector_z_min_m": 0.1804, "end_effector_z_max_m": 0.3786, "gripper_min": 0.0, "gripper_max": 0.8286, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bdc"}, "filepath": "data/pick_bread/episode_077.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990401204745821, "task": "pick_bread", "episode_index": 77, "instruction": "Pick up the baguette.", "num_frames": 1035, "duration": 51.75, "fps": 20.0, "end_effector_path_m": 1.9056, "end_effector_z_min_m": 0.1718, "end_effector_z_max_m": 0.3827, "gripper_min": -0.0, "gripper_max": 0.8305, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bdd"}, "filepath": "data/pick_bread/episode_078.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993155445640057, "task": "pick_bread", "episode_index": 78, "instruction": "Pick up the baguette.", "num_frames": 961, "duration": 48.05, "fps": 20.0, "end_effector_path_m": 1.8218, "end_effector_z_min_m": 0.1821, "end_effector_z_max_m": 0.3674, "gripper_min": -0.0, "gripper_max": 0.8383, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.325Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.325Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bde"}, "filepath": "data/pick_bread/episode_079.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997172041638672, "task": "pick_bread", "episode_index": 79, "instruction": "Pick up the baguette.", "num_frames": 1010, "duration": 50.5, "fps": 20.0, "end_effector_path_m": 1.8806, "end_effector_z_min_m": 0.1606, "end_effector_z_max_m": 0.3692, "gripper_min": 0.0, "gripper_max": 0.8376, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bdf"}, "filepath": "data/pick_bread/episode_080.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999235342153905, "task": "pick_bread", "episode_index": 80, "instruction": "Pick up the baguette.", "num_frames": 938, "duration": 46.9, "fps": 20.0, "end_effector_path_m": 1.9466, "end_effector_z_min_m": 0.162, "end_effector_z_max_m": 0.3785, "gripper_min": 0.0, "gripper_max": 0.8401, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be0"}, "filepath": "data/pick_bread/episode_081.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996130040042521, "task": "pick_bread", "episode_index": 81, "instruction": "Pick up the baguette.", "num_frames": 901, "duration": 45.05, "fps": 20.0, "end_effector_path_m": 1.8231, "end_effector_z_min_m": 0.1898, "end_effector_z_max_m": 0.3822, "gripper_min": -0.0, "gripper_max": 0.8334, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be1"}, "filepath": "data/pick_bread/episode_082.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990936024999701, "task": "pick_bread", "episode_index": 82, "instruction": "Pick up the baguette.", "num_frames": 901, "duration": 45.05, "fps": 20.0, "end_effector_path_m": 1.9438, "end_effector_z_min_m": 0.1929, "end_effector_z_max_m": 0.3731, "gripper_min": -0.0, "gripper_max": 0.842, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be2"}, "filepath": "data/pick_bread/episode_083.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995518318444929, "task": "pick_bread", "episode_index": 83, "instruction": "Pick up the baguette.", "num_frames": 904, "duration": 45.199999999999996, "fps": 20.0, "end_effector_path_m": 1.8312, "end_effector_z_min_m": 0.1922, "end_effector_z_max_m": 0.3779, "gripper_min": -0.0, "gripper_max": 0.8287, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be3"}, "filepath": "data/pick_bread/episode_084.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998185067749765, "task": "pick_bread", "episode_index": 84, "instruction": "Pick up the baguette.", "num_frames": 877, "duration": 43.849999999999994, "fps": 20.0, "end_effector_path_m": 1.7882, "end_effector_z_min_m": 0.2012, "end_effector_z_max_m": 0.4057, "gripper_min": -0.0, "gripper_max": 0.8414, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be4"}, "filepath": "data/pick_bread/episode_085.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999315131281418, "task": "pick_bread", "episode_index": 85, "instruction": "Pick up the baguette.", "num_frames": 939, "duration": 46.949999999999996, "fps": 20.0, "end_effector_path_m": 1.8446, "end_effector_z_min_m": 0.1918, "end_effector_z_max_m": 0.3875, "gripper_min": -0.0, "gripper_max": 0.8408, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be5"}, "filepath": "data/pick_bread/episode_086.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993496740250795, "task": "pick_bread", "episode_index": 86, "instruction": "Pick up the baguette.", "num_frames": 913, "duration": 45.65, "fps": 20.0, "end_effector_path_m": 1.8359, "end_effector_z_min_m": 0.1954, "end_effector_z_max_m": 0.39, "gripper_min": -0.0, "gripper_max": 0.8351, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be6"}, "filepath": "data/pick_bread/episode_087.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990768196171605, "task": "pick_bread", "episode_index": 87, "instruction": "Pick up the baguette.", "num_frames": 881, "duration": 44.05, "fps": 20.0, "end_effector_path_m": 1.7474, "end_effector_z_min_m": 0.1844, "end_effector_z_max_m": 0.3856, "gripper_min": -0.0, "gripper_max": 0.8391, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be7"}, "filepath": "data/pick_bread/episode_088.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996819406399001, "task": "pick_bread", "episode_index": 88, "instruction": "Pick up the baguette.", "num_frames": 906, "duration": 45.3, "fps": 20.0, "end_effector_path_m": 1.8585, "end_effector_z_min_m": 0.1813, "end_effector_z_max_m": 0.3796, "gripper_min": -0.0, "gripper_max": 0.8442, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be8"}, "filepath": "data/pick_bread/episode_089.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998946739250449, "task": "pick_bread", "episode_index": 89, "instruction": "Pick up the baguette.", "num_frames": 957, "duration": 47.849999999999994, "fps": 20.0, "end_effector_path_m": 2.0578, "end_effector_z_min_m": 0.1832, "end_effector_z_max_m": 0.4006, "gripper_min": 0.0, "gripper_max": 0.8368, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849be9"}, "filepath": "data/pick_bread/episode_090.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996435984798664, "task": "pick_bread", "episode_index": 90, "instruction": "Pick up the baguette.", "num_frames": 1075, "duration": 53.75, "fps": 20.0, "end_effector_path_m": 1.9696, "end_effector_z_min_m": 0.188, "end_effector_z_max_m": 0.3921, "gripper_min": -0.0, "gripper_max": 0.8439, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.326Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.326Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bea"}, "filepath": "data/pick_bread/episode_091.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993039225435002, "task": "pick_bread", "episode_index": 91, "instruction": "Pick up the baguette.", "num_frames": 938, "duration": 46.9, "fps": 20.0, "end_effector_path_m": 1.9584, "end_effector_z_min_m": 0.1813, "end_effector_z_max_m": 0.3942, "gripper_min": -0.0, "gripper_max": 0.8418, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849beb"}, "filepath": "data/pick_bread/episode_092.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997901518095347, "task": "pick_bread", "episode_index": 92, "instruction": "Pick up the baguette.", "num_frames": 905, "duration": 45.25, "fps": 20.0, "end_effector_path_m": 1.8278, "end_effector_z_min_m": 0.1862, "end_effector_z_max_m": 0.3788, "gripper_min": 0.0001, "gripper_max": 0.8454, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bec"}, "filepath": "data/pick_bread/episode_093.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994963153143234, "task": "pick_bread", "episode_index": 93, "instruction": "Pick up the baguette.", "num_frames": 981, "duration": 49.05, "fps": 20.0, "end_effector_path_m": 1.8494, "end_effector_z_min_m": 0.1715, "end_effector_z_max_m": 0.3815, "gripper_min": 0.0042, "gripper_max": 0.8439, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bed"}, "filepath": "data/pick_bread/episode_094.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999430160128965, "task": "pick_bread", "episode_index": 94, "instruction": "Pick up the baguette.", "num_frames": 959, "duration": 47.949999999999996, "fps": 20.0, "end_effector_path_m": 1.9318, "end_effector_z_min_m": 0.1797, "end_effector_z_max_m": 0.3823, "gripper_min": -0.0001, "gripper_max": 0.841, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bee"}, "filepath": "data/pick_bread/episode_095.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992736535636277, "task": "pick_bread", "episode_index": 95, "instruction": "Pick up the baguette.", "num_frames": 922, "duration": 46.099999999999994, "fps": 20.0, "end_effector_path_m": 1.9405, "end_effector_z_min_m": 0.193, "end_effector_z_max_m": 0.3777, "gripper_min": -0.0, "gripper_max": 0.8367, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bef"}, "filepath": "data/pick_bread/episode_096.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992006837943475, "task": "pick_bread", "episode_index": 96, "instruction": "Pick up the baguette.", "num_frames": 926, "duration": 46.3, "fps": 20.0, "end_effector_path_m": 1.8835, "end_effector_z_min_m": 0.1982, "end_effector_z_max_m": 0.3867, "gripper_min": -0.0, "gripper_max": 0.8377, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf0"}, "filepath": "data/pick_bread/episode_097.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993714166300313, "task": "pick_bread", "episode_index": 97, "instruction": "Pick up the baguette.", "num_frames": 925, "duration": 46.25, "fps": 20.0, "end_effector_path_m": 2.0376, "end_effector_z_min_m": 0.1748, "end_effector_z_max_m": 0.3847, "gripper_min": -0.0, "gripper_max": 0.844, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf1"}, "filepath": "data/pick_bread/episode_098.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995917176433093, "task": "pick_bread", "episode_index": 98, "instruction": "Pick up the baguette.", "num_frames": 887, "duration": 44.349999999999994, "fps": 20.0, "end_effector_path_m": 1.8313, "end_effector_z_min_m": 0.1955, "end_effector_z_max_m": 0.3735, "gripper_min": -0.0, "gripper_max": 0.8448, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf2"}, "filepath": "data/pick_hongzhong/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998461614159891, "task": "pick_hongzhong", "episode_index": 0, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 446, "duration": 22.3, "fps": 20.0, "end_effector_path_m": 0.6161, "end_effector_z_min_m": 0.0863, "end_effector_z_max_m": 0.2019, "gripper_min": 0.1369, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf3"}, "filepath": "data/pick_hongzhong/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996624276974683, "task": "pick_hongzhong", "episode_index": 1, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 480, "duration": 24.0, "fps": 20.0, "end_effector_path_m": 0.6499, "end_effector_z_min_m": 0.0882, "end_effector_z_max_m": 0.2006, "gripper_min": 0.1244, "gripper_max": 1.0107, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf4"}, "filepath": "data/pick_hongzhong/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999406711085255, "task": "pick_hongzhong", "episode_index": 2, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 463, "duration": 23.150000000000002, "fps": 20.0, "end_effector_path_m": 0.5651, "end_effector_z_min_m": 0.0867, "end_effector_z_max_m": 0.1979, "gripper_min": 0.1473, "gripper_max": 1.0158, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf5"}, "filepath": "data/pick_hongzhong/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999963632151218, "task": "pick_hongzhong", "episode_index": 3, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 457, "duration": 22.85, "fps": 20.0, "end_effector_path_m": 0.5762, "end_effector_z_min_m": 0.0865, "end_effector_z_max_m": 0.1971, "gripper_min": 0.1457, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf6"}, "filepath": "data/pick_hongzhong/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999000462497492, "task": "pick_hongzhong", "episode_index": 4, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 537, "duration": 26.85, "fps": 20.0, "end_effector_path_m": 0.5403, "end_effector_z_min_m": 0.0869, "end_effector_z_max_m": 0.1991, "gripper_min": 0.1465, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.327Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.327Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf7"}, "filepath": "data/pick_hongzhong/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998866610791505, "task": "pick_hongzhong", "episode_index": 5, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 500, "duration": 25.0, "fps": 20.0, "end_effector_path_m": 0.5831, "end_effector_z_min_m": 0.0906, "end_effector_z_max_m": 0.2001, "gripper_min": 0.137, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf8"}, "filepath": "data/pick_hongzhong/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996166886784958, "task": "pick_hongzhong", "episode_index": 6, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 592, "duration": 29.6, "fps": 20.0, "end_effector_path_m": 0.6058, "end_effector_z_min_m": 0.0882, "end_effector_z_max_m": 0.2, "gripper_min": 0.1438, "gripper_max": 1.0212, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bf9"}, "filepath": "data/pick_hongzhong/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999707061671443, "task": "pick_hongzhong", "episode_index": 7, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 424, "duration": 21.2, "fps": 20.0, "end_effector_path_m": 0.5747, "end_effector_z_min_m": 0.0908, "end_effector_z_max_m": 0.1999, "gripper_min": 0.1408, "gripper_max": 1.0199, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bfa"}, "filepath": "data/pick_hongzhong/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996402221705765, "task": "pick_hongzhong", "episode_index": 8, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 509, "duration": 25.45, "fps": 20.0, "end_effector_path_m": 0.5559, "end_effector_z_min_m": 0.0925, "end_effector_z_max_m": 0.2, "gripper_min": 0.1371, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bfb"}, "filepath": "data/pick_hongzhong/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997863909728905, "task": "pick_hongzhong", "episode_index": 9, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 427, "duration": 21.35, "fps": 20.0, "end_effector_path_m": 0.5752, "end_effector_z_min_m": 0.0863, "end_effector_z_max_m": 0.1993, "gripper_min": 0.1397, "gripper_max": 1.0134, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bfc"}, "filepath": "data/pick_hongzhong/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996278437512319, "task": "pick_hongzhong", "episode_index": 10, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 560, "duration": 28.0, "fps": 20.0, "end_effector_path_m": 0.6523, "end_effector_z_min_m": 0.0866, "end_effector_z_max_m": 0.2088, "gripper_min": 0.1382, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bfd"}, "filepath": "data/pick_hongzhong/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999239972526435, "task": "pick_hongzhong", "episode_index": 11, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 659, "duration": 32.949999999999996, "fps": 20.0, "end_effector_path_m": 0.7043, "end_effector_z_min_m": 0.0879, "end_effector_z_max_m": 0.1964, "gripper_min": 0.1369, "gripper_max": 1.011, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bfe"}, "filepath": "data/pick_hongzhong/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995747863704262, "task": "pick_hongzhong", "episode_index": 12, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 536, "duration": 26.8, "fps": 20.0, "end_effector_path_m": 0.6031, "end_effector_z_min_m": 0.0902, "end_effector_z_max_m": 0.1986, "gripper_min": 0.1356, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849bff"}, "filepath": "data/pick_hongzhong/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991142187066818, "task": "pick_hongzhong", "episode_index": 13, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 604, "duration": 30.2, "fps": 20.0, "end_effector_path_m": 0.7042, "end_effector_z_min_m": 0.0903, "end_effector_z_max_m": 0.2103, "gripper_min": 0.1364, "gripper_max": 1.0151, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c00"}, "filepath": "data/pick_hongzhong/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990218849448788, "task": "pick_hongzhong", "episode_index": 14, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 572, "duration": 28.6, "fps": 20.0, "end_effector_path_m": 0.5846, "end_effector_z_min_m": 0.0922, "end_effector_z_max_m": 0.2004, "gripper_min": 0.1361, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c01"}, "filepath": "data/pick_hongzhong/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995452741144938, "task": "pick_hongzhong", "episode_index": 15, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 559, "duration": 27.95, "fps": 20.0, "end_effector_path_m": 0.6167, "end_effector_z_min_m": 0.0844, "end_effector_z_max_m": 0.2002, "gripper_min": 0.1394, "gripper_max": 1.0118, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c02"}, "filepath": "data/pick_hongzhong/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999095126350944, "task": "pick_hongzhong", "episode_index": 16, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 588, "duration": 29.400000000000002, "fps": 20.0, "end_effector_path_m": 0.5972, "end_effector_z_min_m": 0.0923, "end_effector_z_max_m": 0.2006, "gripper_min": 0.1365, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c03"}, "filepath": "data/pick_hongzhong/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997173650584473, "task": "pick_hongzhong", "episode_index": 17, "instruction": "Pick up the red dragon Mahjong tile.", "num_frames": 500, "duration": 25.0, "fps": 20.0, "end_effector_path_m": 0.6387, "end_effector_z_min_m": 0.0844, "end_effector_z_max_m": 0.2001, "gripper_min": 0.1465, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c04"}, "filepath": "data/pick_place/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992823831103991, "task": "pick_place", "episode_index": 0, "instruction": "Pick up the object and place it at the target location.", "num_frames": 860, "duration": 43.0, "fps": 20.0, "end_effector_path_m": 1.0103, "end_effector_z_min_m": 0.0956, "end_effector_z_max_m": 0.2921, "gripper_min": 0.3113, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.328Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.328Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c05"}, "filepath": "data/pick_place/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999141416023527, "task": "pick_place", "episode_index": 1, "instruction": "Pick up the object and place it at the target location.", "num_frames": 991, "duration": 49.55, "fps": 20.0, "end_effector_path_m": 1.1075, "end_effector_z_min_m": 0.0995, "end_effector_z_max_m": 0.2859, "gripper_min": 0.2353, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c06"}, "filepath": "data/pick_place/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993662888835042, "task": "pick_place", "episode_index": 2, "instruction": "Pick up the object and place it at the target location.", "num_frames": 766, "duration": 38.3, "fps": 20.0, "end_effector_path_m": 0.9196, "end_effector_z_min_m": 0.1062, "end_effector_z_max_m": 0.2962, "gripper_min": 0.1936, "gripper_max": 1.0139, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c07"}, "filepath": "data/pick_place/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999415920333385, "task": "pick_place", "episode_index": 3, "instruction": "Pick up the object and place it at the target location.", "num_frames": 705, "duration": 35.25, "fps": 20.0, "end_effector_path_m": 0.959, "end_effector_z_min_m": 0.097, "end_effector_z_max_m": 0.2722, "gripper_min": 0.2846, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c08"}, "filepath": "data/pick_place/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994037849021938, "task": "pick_place", "episode_index": 4, "instruction": "Pick up the object and place it at the target location.", "num_frames": 755, "duration": 37.75, "fps": 20.0, "end_effector_path_m": 0.9904, "end_effector_z_min_m": 0.0995, "end_effector_z_max_m": 0.2922, "gripper_min": 0.2805, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c09"}, "filepath": "data/pick_place/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990474315393704, "task": "pick_place", "episode_index": 5, "instruction": "Pick up the object and place it at the target location.", "num_frames": 852, "duration": 42.599999999999994, "fps": 20.0, "end_effector_path_m": 1.201, "end_effector_z_min_m": 0.1018, "end_effector_z_max_m": 0.291, "gripper_min": 0.225, "gripper_max": 1.0117, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c0a"}, "filepath": "data/pick_place/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994521583529695, "task": "pick_place", "episode_index": 6, "instruction": "Pick up the object and place it at the target location.", "num_frames": 937, "duration": 46.849999999999994, "fps": 20.0, "end_effector_path_m": 1.3612, "end_effector_z_min_m": 0.1009, "end_effector_z_max_m": 0.3334, "gripper_min": 0.211, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c0b"}, "filepath": "data/pick_place/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994377218397391, "task": "pick_place", "episode_index": 7, "instruction": "Pick up the object and place it at the target location.", "num_frames": 800, "duration": 40.0, "fps": 20.0, "end_effector_path_m": 1.1741, "end_effector_z_min_m": 0.1006, "end_effector_z_max_m": 0.329, "gripper_min": 0.2128, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c0c"}, "filepath": "data/pick_place/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998581281896978, "task": "pick_place", "episode_index": 8, "instruction": "Pick up the object and place it at the target location.", "num_frames": 699, "duration": 34.949999999999996, "fps": 20.0, "end_effector_path_m": 0.9608, "end_effector_z_min_m": 0.1074, "end_effector_z_max_m": 0.2773, "gripper_min": 0.1967, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c0d"}, "filepath": "data/pick_place/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991911480783867, "task": "pick_place", "episode_index": 9, "instruction": "Pick up the object and place it at the target location.", "num_frames": 702, "duration": 35.099999999999994, "fps": 20.0, "end_effector_path_m": 1.018, "end_effector_z_min_m": 0.1065, "end_effector_z_max_m": 0.2801, "gripper_min": 0.1815, "gripper_max": 1.0178, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c0e"}, "filepath": "data/pick_place/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999913751947141, "task": "pick_place", "episode_index": 10, "instruction": "Pick up the object and place it at the target location.", "num_frames": 690, "duration": 34.5, "fps": 20.0, "end_effector_path_m": 0.9827, "end_effector_z_min_m": 0.0978, "end_effector_z_max_m": 0.2617, "gripper_min": 0.2807, "gripper_max": 1.0116, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c0f"}, "filepath": "data/pick_place/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99955942296189, "task": "pick_place", "episode_index": 11, "instruction": "Pick up the object and place it at the target location.", "num_frames": 695, "duration": 34.75, "fps": 20.0, "end_effector_path_m": 0.9161, "end_effector_z_min_m": 0.1134, "end_effector_z_max_m": 0.2682, "gripper_min": 0.1113, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c10"}, "filepath": "data/pick_place/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993000627348722, "task": "pick_place", "episode_index": 12, "instruction": "Pick up the object and place it at the target location.", "num_frames": 686, "duration": 34.3, "fps": 20.0, "end_effector_path_m": 1.0548, "end_effector_z_min_m": 0.0977, "end_effector_z_max_m": 0.3033, "gripper_min": 0.25, "gripper_max": 1.0102, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.329Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.329Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c11"}, "filepath": "data/pick_place/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998624751804596, "task": "pick_place", "episode_index": 13, "instruction": "Pick up the object and place it at the target location.", "num_frames": 813, "duration": 40.65, "fps": 20.0, "end_effector_path_m": 1.0059, "end_effector_z_min_m": 0.1087, "end_effector_z_max_m": 0.2691, "gripper_min": 0.1609, "gripper_max": 1.0231, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c12"}, "filepath": "data/pick_place/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999925897792914, "task": "pick_place", "episode_index": 14, "instruction": "Pick up the object and place it at the target location.", "num_frames": 891, "duration": 44.55, "fps": 20.0, "end_effector_path_m": 1.0504, "end_effector_z_min_m": 0.1001, "end_effector_z_max_m": 0.2622, "gripper_min": 0.2341, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c13"}, "filepath": "data/pick_place/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993582619367379, "task": "pick_place", "episode_index": 15, "instruction": "Pick up the object and place it at the target location.", "num_frames": 764, "duration": 38.199999999999996, "fps": 20.0, "end_effector_path_m": 1.0012, "end_effector_z_min_m": 0.1042, "end_effector_z_max_m": 0.2816, "gripper_min": 0.1943, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c14"}, "filepath": "data/pick_place/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999519661679366, "task": "pick_place", "episode_index": 16, "instruction": "Pick up the object and place it at the target location.", "num_frames": 837, "duration": 41.849999999999994, "fps": 20.0, "end_effector_path_m": 0.944, "end_effector_z_min_m": 0.1046, "end_effector_z_max_m": 0.2617, "gripper_min": 0.1937, "gripper_max": 1.0215, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c15"}, "filepath": "data/pick_place/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999813897495531, "task": "pick_place", "episode_index": 17, "instruction": "Pick up the object and place it at the target location.", "num_frames": 856, "duration": 42.8, "fps": 20.0, "end_effector_path_m": 1.1437, "end_effector_z_min_m": 0.1019, "end_effector_z_max_m": 0.2972, "gripper_min": 0.2375, "gripper_max": 1.012, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c16"}, "filepath": "data/pick_place/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997013642132279, "task": "pick_place", "episode_index": 18, "instruction": "Pick up the object and place it at the target location.", "num_frames": 893, "duration": 44.65, "fps": 20.0, "end_effector_path_m": 1.1468, "end_effector_z_min_m": 0.1032, "end_effector_z_max_m": 0.2385, "gripper_min": 0.2005, "gripper_max": 1.0163, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c17"}, "filepath": "data/pick_place/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998320231117669, "task": "pick_place", "episode_index": 19, "instruction": "Pick up the object and place it at the target location.", "num_frames": 895, "duration": 44.75, "fps": 20.0, "end_effector_path_m": 1.1039, "end_effector_z_min_m": 0.1079, "end_effector_z_max_m": 0.2734, "gripper_min": 0.1554, "gripper_max": 1.0116, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c18"}, "filepath": "data/pick_place/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991295241302939, "task": "pick_place", "episode_index": 20, "instruction": "Pick up the object and place it at the target location.", "num_frames": 885, "duration": 44.25, "fps": 20.0, "end_effector_path_m": 0.9474, "end_effector_z_min_m": 0.1037, "end_effector_z_max_m": 0.2509, "gripper_min": 0.2204, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c19"}, "filepath": "data/pick_place/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995540883056885, "task": "pick_place", "episode_index": 21, "instruction": "Pick up the object and place it at the target location.", "num_frames": 626, "duration": 31.3, "fps": 20.0, "end_effector_path_m": 0.8187, "end_effector_z_min_m": 0.1103, "end_effector_z_max_m": 0.2478, "gripper_min": 0.1309, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.330Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.330Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c1a"}, "filepath": "data/pick_place/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995934015402234, "task": "pick_place", "episode_index": 22, "instruction": "Pick up the object and place it at the target location.", "num_frames": 905, "duration": 45.25, "fps": 20.0, "end_effector_path_m": 0.997, "end_effector_z_min_m": 0.1021, "end_effector_z_max_m": 0.2433, "gripper_min": 0.1882, "gripper_max": 1.0235, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c1b"}, "filepath": "data/pick_place/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992254669158722, "task": "pick_place", "episode_index": 23, "instruction": "Pick up the object and place it at the target location.", "num_frames": 634, "duration": 31.7, "fps": 20.0, "end_effector_path_m": 0.7843, "end_effector_z_min_m": 0.1039, "end_effector_z_max_m": 0.253, "gripper_min": 0.2243, "gripper_max": 1.0122, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c1c"}, "filepath": "data/pick_place/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993776952789789, "task": "pick_place", "episode_index": 24, "instruction": "Pick up the object and place it at the target location.", "num_frames": 705, "duration": 35.25, "fps": 20.0, "end_effector_path_m": 0.9069, "end_effector_z_min_m": 0.1139, "end_effector_z_max_m": 0.2492, "gripper_min": 0.0819, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c1d"}, "filepath": "data/pick_place/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997832795490066, "task": "pick_place", "episode_index": 25, "instruction": "Pick up the object and place it at the target location.", "num_frames": 834, "duration": 41.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8284, "end_effector_z_min_m": 0.1093, "end_effector_z_max_m": 0.2537, "gripper_min": 0.1311, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c1e"}, "filepath": "data/pick_place/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993235165012754, "task": "pick_place", "episode_index": 26, "instruction": "Pick up the object and place it at the target location.", "num_frames": 794, "duration": 39.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8463, "end_effector_z_min_m": 0.0987, "end_effector_z_max_m": 0.2442, "gripper_min": 0.2235, "gripper_max": 1.0138, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c1f"}, "filepath": "data/pick_place/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999947922685971, "task": "pick_place", "episode_index": 27, "instruction": "Pick up the object and place it at the target location.", "num_frames": 764, "duration": 38.199999999999996, "fps": 20.0, "end_effector_path_m": 0.9175, "end_effector_z_min_m": 0.1027, "end_effector_z_max_m": 0.265, "gripper_min": 0.2431, "gripper_max": 1.0107, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c20"}, "filepath": "data/pick_place/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996555754008732, "task": "pick_place", "episode_index": 28, "instruction": "Pick up the object and place it at the target location.", "num_frames": 756, "duration": 37.8, "fps": 20.0, "end_effector_path_m": 0.9419, "end_effector_z_min_m": 0.1006, "end_effector_z_max_m": 0.2559, "gripper_min": 0.2376, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c21"}, "filepath": "data/pick_place/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992520830081987, "task": "pick_place", "episode_index": 29, "instruction": "Pick up the object and place it at the target location.", "num_frames": 1037, "duration": 51.849999999999994, "fps": 20.0, "end_effector_path_m": 0.9728, "end_effector_z_min_m": 0.0999, "end_effector_z_max_m": 0.2295, "gripper_min": 0.2236, "gripper_max": 1.0155, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c22"}, "filepath": "data/pick_place/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998571790160807, "task": "pick_place", "episode_index": 30, "instruction": "Pick up the object and place it at the target location.", "num_frames": 739, "duration": 36.949999999999996, "fps": 20.0, "end_effector_path_m": 0.9073, "end_effector_z_min_m": 0.1097, "end_effector_z_max_m": 0.2533, "gripper_min": 0.1642, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c23"}, "filepath": "data/pick_place/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998302909384268, "task": "pick_place", "episode_index": 31, "instruction": "Pick up the object and place it at the target location.", "num_frames": 665, "duration": 33.25, "fps": 20.0, "end_effector_path_m": 0.9318, "end_effector_z_min_m": 0.104, "end_effector_z_max_m": 0.252, "gripper_min": 0.2113, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c24"}, "filepath": "data/pick_place/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991851826103542, "task": "pick_place", "episode_index": 32, "instruction": "Pick up the object and place it at the target location.", "num_frames": 788, "duration": 39.4, "fps": 20.0, "end_effector_path_m": 1.0242, "end_effector_z_min_m": 0.1059, "end_effector_z_max_m": 0.2634, "gripper_min": 0.1255, "gripper_max": 1.0114, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c25"}, "filepath": "data/pick_place/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994032981714606, "task": "pick_place", "episode_index": 33, "instruction": "Pick up the object and place it at the target location.", "num_frames": 675, "duration": 33.75, "fps": 20.0, "end_effector_path_m": 0.8582, "end_effector_z_min_m": 0.1013, "end_effector_z_max_m": 0.2566, "gripper_min": 0.2191, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c26"}, "filepath": "data/pick_place/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998503531174835, "task": "pick_place", "episode_index": 34, "instruction": "Pick up the object and place it at the target location.", "num_frames": 658, "duration": 32.9, "fps": 20.0, "end_effector_path_m": 0.9008, "end_effector_z_min_m": 0.0974, "end_effector_z_max_m": 0.2448, "gripper_min": 0.2734, "gripper_max": 1.0115, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.331Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.331Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c27"}, "filepath": "data/pick_place/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997209131516726, "task": "pick_place", "episode_index": 35, "instruction": "Pick up the object and place it at the target location.", "num_frames": 687, "duration": 34.349999999999994, "fps": 20.0, "end_effector_path_m": 0.8548, "end_effector_z_min_m": 0.1017, "end_effector_z_max_m": 0.2568, "gripper_min": 0.2364, "gripper_max": 1.0142, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c28"}, "filepath": "data/pick_place/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999278657875493, "task": "pick_place", "episode_index": 36, "instruction": "Pick up the object and place it at the target location.", "num_frames": 711, "duration": 35.55, "fps": 20.0, "end_effector_path_m": 0.9329, "end_effector_z_min_m": 0.1073, "end_effector_z_max_m": 0.2377, "gripper_min": 0.1639, "gripper_max": 1.0125, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c29"}, "filepath": "data/pick_place/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999254627509943, "task": "pick_place", "episode_index": 37, "instruction": "Pick up the object and place it at the target location.", "num_frames": 750, "duration": 37.5, "fps": 20.0, "end_effector_path_m": 1.0573, "end_effector_z_min_m": 0.101, "end_effector_z_max_m": 0.2697, "gripper_min": 0.2371, "gripper_max": 1.0189, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c2a"}, "filepath": "data/pick_place/episode_038.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999737749156865, "task": "pick_place", "episode_index": 38, "instruction": "Pick up the object and place it at the target location.", "num_frames": 721, "duration": 36.05, "fps": 20.0, "end_effector_path_m": 0.7982, "end_effector_z_min_m": 0.1051, "end_effector_z_max_m": 0.2427, "gripper_min": 0.188, "gripper_max": 1.0203, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c2b"}, "filepath": "data/pick_place/episode_039.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992148586510408, "task": "pick_place", "episode_index": 39, "instruction": "Pick up the object and place it at the target location.", "num_frames": 611, "duration": 30.55, "fps": 20.0, "end_effector_path_m": 0.7752, "end_effector_z_min_m": 0.1129, "end_effector_z_max_m": 0.2473, "gripper_min": 0.1291, "gripper_max": 1.0209, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c2c"}, "filepath": "data/pick_place/episode_040.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995042254121842, "task": "pick_place", "episode_index": 40, "instruction": "Pick up the object and place it at the target location.", "num_frames": 644, "duration": 32.199999999999996, "fps": 20.0, "end_effector_path_m": 0.8632, "end_effector_z_min_m": 0.1072, "end_effector_z_max_m": 0.2576, "gripper_min": 0.1692, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c2d"}, "filepath": "data/pick_place/episode_041.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990608171478956, "task": "pick_place", "episode_index": 41, "instruction": "Pick up the object and place it at the target location.", "num_frames": 848, "duration": 42.4, "fps": 20.0, "end_effector_path_m": 1.0265, "end_effector_z_min_m": 0.1025, "end_effector_z_max_m": 0.2662, "gripper_min": 0.2428, "gripper_max": 1.0131, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c2e"}, "filepath": "data/pick_place/episode_042.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994809795875793, "task": "pick_place", "episode_index": 42, "instruction": "Pick up the object and place it at the target location.", "num_frames": 566, "duration": 28.3, "fps": 20.0, "end_effector_path_m": 0.833, "end_effector_z_min_m": 0.1004, "end_effector_z_max_m": 0.2657, "gripper_min": 0.2681, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c2f"}, "filepath": "data/pick_place/episode_043.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993424354875758, "task": "pick_place", "episode_index": 43, "instruction": "Pick up the object and place it at the target location.", "num_frames": 681, "duration": 34.05, "fps": 20.0, "end_effector_path_m": 0.924, "end_effector_z_min_m": 0.0996, "end_effector_z_max_m": 0.2307, "gripper_min": 0.2673, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c30"}, "filepath": "data/pick_place/episode_044.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990407982237126, "task": "pick_place", "episode_index": 44, "instruction": "Pick up the object and place it at the target location.", "num_frames": 680, "duration": 34.0, "fps": 20.0, "end_effector_path_m": 0.9429, "end_effector_z_min_m": 0.0967, "end_effector_z_max_m": 0.2423, "gripper_min": 0.2558, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c31"}, "filepath": "data/pick_place/episode_045.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998951121155074, "task": "pick_place", "episode_index": 45, "instruction": "Pick up the object and place it at the target location.", "num_frames": 688, "duration": 34.4, "fps": 20.0, "end_effector_path_m": 0.9003, "end_effector_z_min_m": 0.1013, "end_effector_z_max_m": 0.2658, "gripper_min": 0.2542, "gripper_max": 1.0107, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c32"}, "filepath": "data/pick_place/episode_046.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992425467088312, "task": "pick_place", "episode_index": 46, "instruction": "Pick up the object and place it at the target location.", "num_frames": 781, "duration": 39.05, "fps": 20.0, "end_effector_path_m": 0.9329, "end_effector_z_min_m": 0.1081, "end_effector_z_max_m": 0.2623, "gripper_min": 0.152, "gripper_max": 1.0257, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c33"}, "filepath": "data/pick_place/episode_047.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995979450289396, "task": "pick_place", "episode_index": 47, "instruction": "Pick up the object and place it at the target location.", "num_frames": 617, "duration": 30.85, "fps": 20.0, "end_effector_path_m": 0.8039, "end_effector_z_min_m": 0.1044, "end_effector_z_max_m": 0.2494, "gripper_min": 0.236, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.332Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.332Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c34"}, "filepath": "data/pick_place/episode_048.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99958428451379, "task": "pick_place", "episode_index": 48, "instruction": "Pick up the object and place it at the target location.", "num_frames": 796, "duration": 39.8, "fps": 20.0, "end_effector_path_m": 1.018, "end_effector_z_min_m": 0.1002, "end_effector_z_max_m": 0.2533, "gripper_min": 0.2191, "gripper_max": 1.0169, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c35"}, "filepath": "data/pick_place/episode_049.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999918639871291, "task": "pick_place", "episode_index": 49, "instruction": "Pick up the object and place it at the target location.", "num_frames": 784, "duration": 39.199999999999996, "fps": 20.0, "end_effector_path_m": 0.9621, "end_effector_z_min_m": 0.1004, "end_effector_z_max_m": 0.2568, "gripper_min": 0.2241, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c36"}, "filepath": "data/pick_place/episode_050.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991392908643639, "task": "pick_place", "episode_index": 50, "instruction": "Pick up the object and place it at the target location.", "num_frames": 731, "duration": 36.55, "fps": 20.0, "end_effector_path_m": 1.0019, "end_effector_z_min_m": 0.1018, "end_effector_z_max_m": 0.2474, "gripper_min": 0.2315, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c37"}, "filepath": "data/pick_place/episode_051.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995279506819964, "task": "pick_place", "episode_index": 51, "instruction": "Pick up the object and place it at the target location.", "num_frames": 796, "duration": 39.8, "fps": 20.0, "end_effector_path_m": 0.9448, "end_effector_z_min_m": 0.1042, "end_effector_z_max_m": 0.2482, "gripper_min": 0.1992, "gripper_max": 1.0184, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c38"}, "filepath": "data/pick_place/episode_052.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994031780340233, "task": "pick_place", "episode_index": 52, "instruction": "Pick up the object and place it at the target location.", "num_frames": 889, "duration": 44.449999999999996, "fps": 20.0, "end_effector_path_m": 1.1003, "end_effector_z_min_m": 0.0977, "end_effector_z_max_m": 0.3312, "gripper_min": 0.2796, "gripper_max": 1.0106, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c39"}, "filepath": "data/pick_place/episode_053.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999202807388938, "task": "pick_place", "episode_index": 53, "instruction": "Pick up the object and place it at the target location.", "num_frames": 946, "duration": 47.3, "fps": 20.0, "end_effector_path_m": 1.038, "end_effector_z_min_m": 0.1005, "end_effector_z_max_m": 0.2428, "gripper_min": 0.2304, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c3a"}, "filepath": "data/pick_place/episode_054.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999306150744497, "task": "pick_place", "episode_index": 54, "instruction": "Pick up the object and place it at the target location.", "num_frames": 754, "duration": 37.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8539, "end_effector_z_min_m": 0.0995, "end_effector_z_max_m": 0.2348, "gripper_min": 0.2793, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c3b"}, "filepath": "data/pick_place/episode_055.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999172949450668, "task": "pick_place", "episode_index": 55, "instruction": "Pick up the object and place it at the target location.", "num_frames": 684, "duration": 34.199999999999996, "fps": 20.0, "end_effector_path_m": 0.9367, "end_effector_z_min_m": 0.1011, "end_effector_z_max_m": 0.2785, "gripper_min": 0.2375, "gripper_max": 1.0138, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c3c"}, "filepath": "data/pick_place/episode_056.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997766204357593, "task": "pick_place", "episode_index": 56, "instruction": "Pick up the object and place it at the target location.", "num_frames": 782, "duration": 39.099999999999994, "fps": 20.0, "end_effector_path_m": 0.9629, "end_effector_z_min_m": 0.0978, "end_effector_z_max_m": 0.2588, "gripper_min": 0.2432, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c3d"}, "filepath": "data/pick_place/episode_057.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998909397336515, "task": "pick_place", "episode_index": 57, "instruction": "Pick up the object and place it at the target location.", "num_frames": 681, "duration": 34.05, "fps": 20.0, "end_effector_path_m": 0.8289, "end_effector_z_min_m": 0.098, "end_effector_z_max_m": 0.2626, "gripper_min": 0.2551, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c3e"}, "filepath": "data/pick_place/episode_058.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994068428789313, "task": "pick_place", "episode_index": 58, "instruction": "Pick up the object and place it at the target location.", "num_frames": 807, "duration": 40.349999999999994, "fps": 20.0, "end_effector_path_m": 0.8961, "end_effector_z_min_m": 0.1035, "end_effector_z_max_m": 0.2525, "gripper_min": 0.225, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c3f"}, "filepath": "data/pick_place/episode_059.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998117974018291, "task": "pick_place", "episode_index": 59, "instruction": "Pick up the object and place it at the target location.", "num_frames": 676, "duration": 33.8, "fps": 20.0, "end_effector_path_m": 0.803, "end_effector_z_min_m": 0.1037, "end_effector_z_max_m": 0.265, "gripper_min": 0.2375, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.333Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.333Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c40"}, "filepath": "data/pick_place/episode_060.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990513288540268, "task": "pick_place", "episode_index": 60, "instruction": "Pick up the object and place it at the target location.", "num_frames": 801, "duration": 40.05, "fps": 20.0, "end_effector_path_m": 0.9588, "end_effector_z_min_m": 0.0992, "end_effector_z_max_m": 0.2696, "gripper_min": 0.2416, "gripper_max": 1.0116, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c41"}, "filepath": "data/pick_place/episode_061.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999701562705553, "task": "pick_place", "episode_index": 61, "instruction": "Pick up the object and place it at the target location.", "num_frames": 659, "duration": 32.949999999999996, "fps": 20.0, "end_effector_path_m": 0.899, "end_effector_z_min_m": 0.0962, "end_effector_z_max_m": 0.2473, "gripper_min": 0.3044, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c42"}, "filepath": "data/pick_place/episode_062.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997809437365996, "task": "pick_place", "episode_index": 62, "instruction": "Pick up the object and place it at the target location.", "num_frames": 622, "duration": 31.1, "fps": 20.0, "end_effector_path_m": 0.8431, "end_effector_z_min_m": 0.0989, "end_effector_z_max_m": 0.2521, "gripper_min": 0.2617, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c43"}, "filepath": "data/pick_place/episode_063.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998250835738767, "task": "pick_place", "episode_index": 63, "instruction": "Pick up the object and place it at the target location.", "num_frames": 648, "duration": 32.4, "fps": 20.0, "end_effector_path_m": 0.8698, "end_effector_z_min_m": 0.1012, "end_effector_z_max_m": 0.2636, "gripper_min": 0.2429, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c44"}, "filepath": "data/pick_place/episode_064.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999558603464096, "task": "pick_place", "episode_index": 64, "instruction": "Pick up the object and place it at the target location.", "num_frames": 684, "duration": 34.199999999999996, "fps": 20.0, "end_effector_path_m": 0.9494, "end_effector_z_min_m": 0.1065, "end_effector_z_max_m": 0.2589, "gripper_min": 0.1932, "gripper_max": 1.019, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c45"}, "filepath": "data/pick_place/episode_065.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999916435467779, "task": "pick_place", "episode_index": 65, "instruction": "Pick up the object and place it at the target location.", "num_frames": 676, "duration": 33.8, "fps": 20.0, "end_effector_path_m": 0.8154, "end_effector_z_min_m": 0.0942, "end_effector_z_max_m": 0.2493, "gripper_min": 0.3037, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c46"}, "filepath": "data/pick_place/episode_066.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991411998700059, "task": "pick_place", "episode_index": 66, "instruction": "Pick up the object and place it at the target location.", "num_frames": 780, "duration": 39.0, "fps": 20.0, "end_effector_path_m": 1.0359, "end_effector_z_min_m": 0.0979, "end_effector_z_max_m": 0.2827, "gripper_min": 0.2797, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c47"}, "filepath": "data/pick_place/episode_067.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992286706801233, "task": "pick_place", "episode_index": 67, "instruction": "Pick up the object and place it at the target location.", "num_frames": 787, "duration": 39.349999999999994, "fps": 20.0, "end_effector_path_m": 0.9254, "end_effector_z_min_m": 0.1028, "end_effector_z_max_m": 0.2882, "gripper_min": 0.2185, "gripper_max": 1.0141, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c48"}, "filepath": "data/pick_place/episode_068.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999677246916533, "task": "pick_place", "episode_index": 68, "instruction": "Pick up the object and place it at the target location.", "num_frames": 705, "duration": 35.25, "fps": 20.0, "end_effector_path_m": 1.0726, "end_effector_z_min_m": 0.1049, "end_effector_z_max_m": 0.2889, "gripper_min": 0.2067, "gripper_max": 1.0195, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c49"}, "filepath": "data/pick_place/episode_069.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999248959499086, "task": "pick_place", "episode_index": 69, "instruction": "Pick up the object and place it at the target location.", "num_frames": 600, "duration": 30.0, "fps": 20.0, "end_effector_path_m": 0.9073, "end_effector_z_min_m": 0.1014, "end_effector_z_max_m": 0.2528, "gripper_min": 0.2545, "gripper_max": 1.0114, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c4a"}, "filepath": "data/pick_place/episode_070.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997734725982024, "task": "pick_place", "episode_index": 70, "instruction": "Pick up the object and place it at the target location.", "num_frames": 698, "duration": 34.9, "fps": 20.0, "end_effector_path_m": 0.9067, "end_effector_z_min_m": 0.0995, "end_effector_z_max_m": 0.2577, "gripper_min": 0.2298, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c4b"}, "filepath": "data/pick_place/episode_071.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999291364482597, "task": "pick_place", "episode_index": 71, "instruction": "Pick up the object and place it at the target location.", "num_frames": 693, "duration": 34.65, "fps": 20.0, "end_effector_path_m": 0.8879, "end_effector_z_min_m": 0.0986, "end_effector_z_max_m": 0.234, "gripper_min": 0.2733, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c4c"}, "filepath": "data/pick_place/episode_072.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990943815774429, "task": "pick_place", "episode_index": 72, "instruction": "Pick up the object and place it at the target location.", "num_frames": 715, "duration": 35.75, "fps": 20.0, "end_effector_path_m": 1.0169, "end_effector_z_min_m": 0.0953, "end_effector_z_max_m": 0.2657, "gripper_min": 0.2483, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.334Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.334Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c4d"}, "filepath": "data/pick_place/episode_073.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999099577228391, "task": "pick_place", "episode_index": 73, "instruction": "Pick up the object and place it at the target location.", "num_frames": 671, "duration": 33.55, "fps": 20.0, "end_effector_path_m": 0.8248, "end_effector_z_min_m": 0.098, "end_effector_z_max_m": 0.254, "gripper_min": 0.2476, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c4e"}, "filepath": "data/pick_place/episode_074.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995801255383061, "task": "pick_place", "episode_index": 74, "instruction": "Pick up the object and place it at the target location.", "num_frames": 664, "duration": 33.199999999999996, "fps": 20.0, "end_effector_path_m": 0.9272, "end_effector_z_min_m": 0.0981, "end_effector_z_max_m": 0.2491, "gripper_min": 0.2374, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c4f"}, "filepath": "data/pick_place/episode_075.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999728156949017, "task": "pick_place", "episode_index": 75, "instruction": "Pick up the object and place it at the target location.", "num_frames": 673, "duration": 33.65, "fps": 20.0, "end_effector_path_m": 0.8974, "end_effector_z_min_m": 0.1007, "end_effector_z_max_m": 0.261, "gripper_min": 0.219, "gripper_max": 1.0118, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c50"}, "filepath": "data/pick_place/episode_076.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995326966881286, "task": "pick_place", "episode_index": 76, "instruction": "Pick up the object and place it at the target location.", "num_frames": 671, "duration": 33.55, "fps": 20.0, "end_effector_path_m": 0.8352, "end_effector_z_min_m": 0.0984, "end_effector_z_max_m": 0.2702, "gripper_min": 0.2312, "gripper_max": 1.014, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c51"}, "filepath": "data/pick_place/episode_077.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999837185009807, "task": "pick_place", "episode_index": 77, "instruction": "Pick up the object and place it at the target location.", "num_frames": 644, "duration": 32.199999999999996, "fps": 20.0, "end_effector_path_m": 0.8404, "end_effector_z_min_m": 0.0962, "end_effector_z_max_m": 0.2383, "gripper_min": 0.2971, "gripper_max": 1.0106, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c52"}, "filepath": "data/pick_place/episode_078.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990606984672119, "task": "pick_place", "episode_index": 78, "instruction": "Pick up the object and place it at the target location.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.8479, "end_effector_z_min_m": 0.1013, "end_effector_z_max_m": 0.244, "gripper_min": 0.2251, "gripper_max": 1.0129, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c53"}, "filepath": "data/pick_place/episode_079.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993403064231676, "task": "pick_place", "episode_index": 79, "instruction": "Pick up the object and place it at the target location.", "num_frames": 631, "duration": 31.55, "fps": 20.0, "end_effector_path_m": 0.7932, "end_effector_z_min_m": 0.101, "end_effector_z_max_m": 0.2445, "gripper_min": 0.2249, "gripper_max": 1.0112, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c54"}, "filepath": "data/pick_place/episode_080.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990217997312522, "task": "pick_place", "episode_index": 80, "instruction": "Pick up the object and place it at the target location.", "num_frames": 597, "duration": 29.85, "fps": 20.0, "end_effector_path_m": 0.8491, "end_effector_z_min_m": 0.0999, "end_effector_z_max_m": 0.2607, "gripper_min": 0.2435, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c55"}, "filepath": "data/pick_place/episode_081.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991585530543893, "task": "pick_place", "episode_index": 81, "instruction": "Pick up the object and place it at the target location.", "num_frames": 612, "duration": 30.6, "fps": 20.0, "end_effector_path_m": 0.9098, "end_effector_z_min_m": 0.1042, "end_effector_z_max_m": 0.2438, "gripper_min": 0.1945, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c56"}, "filepath": "data/pick_place/episode_082.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999518609518958, "task": "pick_place", "episode_index": 82, "instruction": "Pick up the object and place it at the target location.", "num_frames": 832, "duration": 41.599999999999994, "fps": 20.0, "end_effector_path_m": 1.0883, "end_effector_z_min_m": 0.0998, "end_effector_z_max_m": 0.2706, "gripper_min": 0.2211, "gripper_max": 1.015, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c57"}, "filepath": "data/pick_place/episode_083.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999806645465087, "task": "pick_place", "episode_index": 83, "instruction": "Pick up the object and place it at the target location.", "num_frames": 709, "duration": 35.449999999999996, "fps": 20.0, "end_effector_path_m": 0.9328, "end_effector_z_min_m": 0.1001, "end_effector_z_max_m": 0.2511, "gripper_min": 0.2179, "gripper_max": 1.0157, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c58"}, "filepath": "data/pick_place/episode_084.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991936221809031, "task": "pick_place", "episode_index": 84, "instruction": "Pick up the object and place it at the target location.", "num_frames": 703, "duration": 35.15, "fps": 20.0, "end_effector_path_m": 0.9022, "end_effector_z_min_m": 0.0971, "end_effector_z_max_m": 0.2491, "gripper_min": 0.2801, "gripper_max": 1.0127, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c59"}, "filepath": "data/pick_place/episode_085.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998673516422913, "task": "pick_place", "episode_index": 85, "instruction": "Pick up the object and place it at the target location.", "num_frames": 840, "duration": 42.0, "fps": 20.0, "end_effector_path_m": 1.022, "end_effector_z_min_m": 0.0978, "end_effector_z_max_m": 0.2448, "gripper_min": 0.2354, "gripper_max": 1.0119, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.335Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.335Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c5a"}, "filepath": "data/pick_place/episode_086.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997402062742379, "task": "pick_place", "episode_index": 86, "instruction": "Pick up the object and place it at the target location.", "num_frames": 656, "duration": 32.8, "fps": 20.0, "end_effector_path_m": 0.7784, "end_effector_z_min_m": 0.1003, "end_effector_z_max_m": 0.241, "gripper_min": 0.2553, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c5b"}, "filepath": "data/pick_place/episode_087.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998337467613349, "task": "pick_place", "episode_index": 87, "instruction": "Pick up the object and place it at the target location.", "num_frames": 664, "duration": 33.199999999999996, "fps": 20.0, "end_effector_path_m": 0.7747, "end_effector_z_min_m": 0.0988, "end_effector_z_max_m": 0.2531, "gripper_min": 0.2673, "gripper_max": 1.0141, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c5c"}, "filepath": "data/pick_place/episode_088.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998745460422841, "task": "pick_place", "episode_index": 88, "instruction": "Pick up the object and place it at the target location.", "num_frames": 649, "duration": 32.449999999999996, "fps": 20.0, "end_effector_path_m": 0.8719, "end_effector_z_min_m": 0.1003, "end_effector_z_max_m": 0.2726, "gripper_min": 0.2551, "gripper_max": 1.0111, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c5d"}, "filepath": "data/pick_place/episode_089.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998320156623483, "task": "pick_place", "episode_index": 89, "instruction": "Pick up the object and place it at the target location.", "num_frames": 735, "duration": 36.75, "fps": 20.0, "end_effector_path_m": 0.9311, "end_effector_z_min_m": 0.0953, "end_effector_z_max_m": 0.252, "gripper_min": 0.2546, "gripper_max": 1.0116, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c5e"}, "filepath": "data/pick_place/episode_090.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998892965492713, "task": "pick_place", "episode_index": 90, "instruction": "Pick up the object and place it at the target location.", "num_frames": 922, "duration": 46.099999999999994, "fps": 20.0, "end_effector_path_m": 1.0663, "end_effector_z_min_m": 0.0989, "end_effector_z_max_m": 0.2784, "gripper_min": 0.2545, "gripper_max": 1.0106, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c5f"}, "filepath": "data/pick_place/episode_091.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998804525897899, "task": "pick_place", "episode_index": 91, "instruction": "Pick up the object and place it at the target location.", "num_frames": 633, "duration": 31.650000000000002, "fps": 20.0, "end_effector_path_m": 0.8309, "end_effector_z_min_m": 0.1061, "end_effector_z_max_m": 0.2683, "gripper_min": 0.1818, "gripper_max": 1.0267, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c60"}, "filepath": "data/pick_place/episode_092.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995548336397986, "task": "pick_place", "episode_index": 92, "instruction": "Pick up the object and place it at the target location.", "num_frames": 692, "duration": 34.599999999999994, "fps": 20.0, "end_effector_path_m": 0.9475, "end_effector_z_min_m": 0.1014, "end_effector_z_max_m": 0.2559, "gripper_min": 0.2251, "gripper_max": 1.0145, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c61"}, "filepath": "data/pick_place/episode_093.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992394206563292, "task": "pick_place", "episode_index": 93, "instruction": "Pick up the object and place it at the target location.", "num_frames": 629, "duration": 31.45, "fps": 20.0, "end_effector_path_m": 0.816, "end_effector_z_min_m": 0.1012, "end_effector_z_max_m": 0.259, "gripper_min": 0.2549, "gripper_max": 1.0112, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c62"}, "filepath": "data/pick_place/episode_094.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998959619212828, "task": "pick_place", "episode_index": 94, "instruction": "Pick up the object and place it at the target location.", "num_frames": 596, "duration": 29.8, "fps": 20.0, "end_effector_path_m": 0.9112, "end_effector_z_min_m": 0.0989, "end_effector_z_max_m": 0.2532, "gripper_min": 0.243, "gripper_max": 1.0114, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c63"}, "filepath": "data/pick_place/episode_095.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990004724230556, "task": "pick_place", "episode_index": 95, "instruction": "Pick up the object and place it at the target location.", "num_frames": 698, "duration": 34.9, "fps": 20.0, "end_effector_path_m": 0.8964, "end_effector_z_min_m": 0.0983, "end_effector_z_max_m": 0.2539, "gripper_min": 0.256, "gripper_max": 1.0135, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c64"}, "filepath": "data/pick_place/episode_096.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990187053914765, "task": "pick_place", "episode_index": 96, "instruction": "Pick up the object and place it at the target location.", "num_frames": 627, "duration": 31.35, "fps": 20.0, "end_effector_path_m": 0.9344, "end_effector_z_min_m": 0.099, "end_effector_z_max_m": 0.2555, "gripper_min": 0.225, "gripper_max": 1.0129, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c65"}, "filepath": "data/pick_place/episode_097.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997018691775411, "task": "pick_place", "episode_index": 97, "instruction": "Pick up the object and place it at the target location.", "num_frames": 653, "duration": 32.65, "fps": 20.0, "end_effector_path_m": 0.9049, "end_effector_z_min_m": 0.0987, "end_effector_z_max_m": 0.245, "gripper_min": 0.2316, "gripper_max": 1.0102, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c66"}, "filepath": "data/pick_place/episode_098.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998559019992003, "task": "pick_place", "episode_index": 98, "instruction": "Pick up the object and place it at the target location.", "num_frames": 635, "duration": 31.75, "fps": 20.0, "end_effector_path_m": 0.9376, "end_effector_z_min_m": 0.0958, "end_effector_z_max_m": 0.2408, "gripper_min": 0.2421, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.336Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.336Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c67"}, "filepath": "data/pick_place/episode_099.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996523891737431, "task": "pick_place", "episode_index": 99, "instruction": "Pick up the object and place it at the target location.", "num_frames": 679, "duration": 33.949999999999996, "fps": 20.0, "end_effector_path_m": 0.9023, "end_effector_z_min_m": 0.0929, "end_effector_z_max_m": 0.2397, "gripper_min": 0.293, "gripper_max": 1.0122, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c68"}, "filepath": "data/pick_usb/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991693519800574, "task": "pick_usb", "episode_index": 0, "instruction": "Pick up the USB plug.", "num_frames": 601, "duration": 30.05, "fps": 20.0, "end_effector_path_m": 0.6027, "end_effector_z_min_m": 0.1394, "end_effector_z_max_m": 0.2244, "gripper_min": 0.1751, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c69"}, "filepath": "data/pick_usb/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999855192415932, "task": "pick_usb", "episode_index": 1, "instruction": "Pick up the USB plug.", "num_frames": 740, "duration": 37.0, "fps": 20.0, "end_effector_path_m": 0.6271, "end_effector_z_min_m": 0.1401, "end_effector_z_max_m": 0.2159, "gripper_min": 0.1648, "gripper_max": 1.0203, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c6a"}, "filepath": "data/pick_usb/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995879724143322, "task": "pick_usb", "episode_index": 2, "instruction": "Pick up the USB plug.", "num_frames": 626, "duration": 31.3, "fps": 20.0, "end_effector_path_m": 0.5918, "end_effector_z_min_m": 0.1514, "end_effector_z_max_m": 0.2275, "gripper_min": 0.1434, "gripper_max": 1.0268, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c6b"}, "filepath": "data/pick_usb/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993067599820934, "task": "pick_usb", "episode_index": 3, "instruction": "Pick up the USB plug.", "num_frames": 739, "duration": 36.949999999999996, "fps": 20.0, "end_effector_path_m": 0.6691, "end_effector_z_min_m": 0.1415, "end_effector_z_max_m": 0.214, "gripper_min": 0.1599, "gripper_max": 1.0152, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c6c"}, "filepath": "data/pick_usb/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994719219322771, "task": "pick_usb", "episode_index": 4, "instruction": "Pick up the USB plug.", "num_frames": 738, "duration": 36.9, "fps": 20.0, "end_effector_path_m": 0.813, "end_effector_z_min_m": 0.1488, "end_effector_z_max_m": 0.245, "gripper_min": 0.1698, "gripper_max": 1.0216, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c6d"}, "filepath": "data/pick_usb/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993839172623592, "task": "pick_usb", "episode_index": 5, "instruction": "Pick up the USB plug.", "num_frames": 617, "duration": 30.85, "fps": 20.0, "end_effector_path_m": 0.4567, "end_effector_z_min_m": 0.1378, "end_effector_z_max_m": 0.2145, "gripper_min": 0.1704, "gripper_max": 1.0171, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c6e"}, "filepath": "data/pick_usb/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991734715332344, "task": "pick_usb", "episode_index": 6, "instruction": "Pick up the USB plug.", "num_frames": 604, "duration": 30.2, "fps": 20.0, "end_effector_path_m": 0.4966, "end_effector_z_min_m": 0.1396, "end_effector_z_max_m": 0.216, "gripper_min": 0.1629, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c6f"}, "filepath": "data/pick_usb/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991339056122363, "task": "pick_usb", "episode_index": 7, "instruction": "Pick up the USB plug.", "num_frames": 621, "duration": 31.05, "fps": 20.0, "end_effector_path_m": 0.6506, "end_effector_z_min_m": 0.1383, "end_effector_z_max_m": 0.206, "gripper_min": 0.1754, "gripper_max": 1.0188, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c70"}, "filepath": "data/pick_usb/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998877401194555, "task": "pick_usb", "episode_index": 8, "instruction": "Pick up the USB plug.", "num_frames": 619, "duration": 30.95, "fps": 20.0, "end_effector_path_m": 0.5588, "end_effector_z_min_m": 0.1406, "end_effector_z_max_m": 0.2026, "gripper_min": 0.1606, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.337Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.337Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c71"}, "filepath": "data/pick_usb/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996542743154175, "task": "pick_usb", "episode_index": 9, "instruction": "Pick up the USB plug.", "num_frames": 671, "duration": 33.55, "fps": 20.0, "end_effector_path_m": 0.5935, "end_effector_z_min_m": 0.1463, "end_effector_z_max_m": 0.2237, "gripper_min": 0.1499, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c72"}, "filepath": "data/pick_usb/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997058978368889, "task": "pick_usb", "episode_index": 10, "instruction": "Pick up the USB plug.", "num_frames": 642, "duration": 32.099999999999994, "fps": 20.0, "end_effector_path_m": 0.6347, "end_effector_z_min_m": 0.1489, "end_effector_z_max_m": 0.2147, "gripper_min": 0.1525, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c73"}, "filepath": "data/pick_usb/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998293134111573, "task": "pick_usb", "episode_index": 11, "instruction": "Pick up the USB plug.", "num_frames": 590, "duration": 29.5, "fps": 20.0, "end_effector_path_m": 0.6418, "end_effector_z_min_m": 0.1463, "end_effector_z_max_m": 0.2024, "gripper_min": 0.1505, "gripper_max": 1.0267, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c74"}, "filepath": "data/pick_usb/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992599459290825, "task": "pick_usb", "episode_index": 12, "instruction": "Pick up the USB plug.", "num_frames": 604, "duration": 30.2, "fps": 20.0, "end_effector_path_m": 0.5763, "end_effector_z_min_m": 0.1517, "end_effector_z_max_m": 0.2118, "gripper_min": 0.1479, "gripper_max": 1.017, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c75"}, "filepath": "data/pick_usb/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999032982283368, "task": "pick_usb", "episode_index": 13, "instruction": "Pick up the USB plug.", "num_frames": 772, "duration": 38.599999999999994, "fps": 20.0, "end_effector_path_m": 0.707, "end_effector_z_min_m": 0.1428, "end_effector_z_max_m": 0.213, "gripper_min": 0.1687, "gripper_max": 1.0113, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c76"}, "filepath": "data/pick_usb/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995804042011446, "task": "pick_usb", "episode_index": 14, "instruction": "Pick up the USB plug.", "num_frames": 865, "duration": 43.25, "fps": 20.0, "end_effector_path_m": 0.7613, "end_effector_z_min_m": 0.1394, "end_effector_z_max_m": 0.2183, "gripper_min": 0.1692, "gripper_max": 1.012, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c77"}, "filepath": "data/pick_usb/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991172743185195, "task": "pick_usb", "episode_index": 15, "instruction": "Pick up the USB plug.", "num_frames": 647, "duration": 32.349999999999994, "fps": 20.0, "end_effector_path_m": 0.6271, "end_effector_z_min_m": 0.1533, "end_effector_z_max_m": 0.2257, "gripper_min": 0.1529, "gripper_max": 1.0178, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c78"}, "filepath": "data/pick_usb/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999328576233328, "task": "pick_usb", "episode_index": 16, "instruction": "Pick up the USB plug.", "num_frames": 698, "duration": 34.9, "fps": 20.0, "end_effector_path_m": 0.6827, "end_effector_z_min_m": 0.1451, "end_effector_z_max_m": 0.2153, "gripper_min": 0.1573, "gripper_max": 1.0175, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c79"}, "filepath": "data/pick_usb/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998693285653462, "task": "pick_usb", "episode_index": 17, "instruction": "Pick up the USB plug.", "num_frames": 745, "duration": 37.25, "fps": 20.0, "end_effector_path_m": 0.8074, "end_effector_z_min_m": 0.1578, "end_effector_z_max_m": 0.2633, "gripper_min": 0.1285, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c7a"}, "filepath": "data/pick_usb/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995415079589084, "task": "pick_usb", "episode_index": 18, "instruction": "Pick up the USB plug.", "num_frames": 713, "duration": 35.65, "fps": 20.0, "end_effector_path_m": 0.7692, "end_effector_z_min_m": 0.1406, "end_effector_z_max_m": 0.2182, "gripper_min": 0.1619, "gripper_max": 1.0108, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c7b"}, "filepath": "data/pick_usb/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990526928771554, "task": "pick_usb", "episode_index": 19, "instruction": "Pick up the USB plug.", "num_frames": 778, "duration": 38.9, "fps": 20.0, "end_effector_path_m": 0.7127, "end_effector_z_min_m": 0.1382, "end_effector_z_max_m": 0.2063, "gripper_min": 0.1803, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c7c"}, "filepath": "data/pick_usb/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994434824729165, "task": "pick_usb", "episode_index": 20, "instruction": "Pick up the USB plug.", "num_frames": 656, "duration": 32.8, "fps": 20.0, "end_effector_path_m": 0.6951, "end_effector_z_min_m": 0.1395, "end_effector_z_max_m": 0.2137, "gripper_min": 0.1637, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c7d"}, "filepath": "data/pick_usb/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994082430125025, "task": "pick_usb", "episode_index": 21, "instruction": "Pick up the USB plug.", "num_frames": 551, "duration": 27.55, "fps": 20.0, "end_effector_path_m": 0.6957, "end_effector_z_min_m": 0.1471, "end_effector_z_max_m": 0.2226, "gripper_min": 0.1523, "gripper_max": 1.0141, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c7e"}, "filepath": "data/pick_usb/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998951111755628, "task": "pick_usb", "episode_index": 22, "instruction": "Pick up the USB plug.", "num_frames": 669, "duration": 33.449999999999996, "fps": 20.0, "end_effector_path_m": 0.6802, "end_effector_z_min_m": 0.132, "end_effector_z_max_m": 0.2227, "gripper_min": 0.1724, "gripper_max": 1.0186, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.338Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.338Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c7f"}, "filepath": "data/pick_usb/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999985677598718, "task": "pick_usb", "episode_index": 23, "instruction": "Pick up the USB plug.", "num_frames": 632, "duration": 31.6, "fps": 20.0, "end_effector_path_m": 0.7842, "end_effector_z_min_m": 0.1382, "end_effector_z_max_m": 0.2527, "gripper_min": 0.1808, "gripper_max": 1.0226, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c80"}, "filepath": "data/pick_usb/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999585009134414, "task": "pick_usb", "episode_index": 24, "instruction": "Pick up the USB plug.", "num_frames": 672, "duration": 33.599999999999994, "fps": 20.0, "end_effector_path_m": 0.665, "end_effector_z_min_m": 0.1387, "end_effector_z_max_m": 0.2251, "gripper_min": 0.1768, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c81"}, "filepath": "data/pick_usb/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991467979440607, "task": "pick_usb", "episode_index": 25, "instruction": "Pick up the USB plug.", "num_frames": 604, "duration": 30.2, "fps": 20.0, "end_effector_path_m": 0.7223, "end_effector_z_min_m": 0.1397, "end_effector_z_max_m": 0.2367, "gripper_min": 0.1669, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c82"}, "filepath": "data/pick_usb/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999291600000809, "task": "pick_usb", "episode_index": 26, "instruction": "Pick up the USB plug.", "num_frames": 620, "duration": 31.0, "fps": 20.0, "end_effector_path_m": 0.6874, "end_effector_z_min_m": 0.153, "end_effector_z_max_m": 0.2344, "gripper_min": 0.145, "gripper_max": 1.0108, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c83"}, "filepath": "data/pick_usb/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996490448371316, "task": "pick_usb", "episode_index": 27, "instruction": "Pick up the USB plug.", "num_frames": 739, "duration": 36.949999999999996, "fps": 20.0, "end_effector_path_m": 0.8324, "end_effector_z_min_m": 0.1327, "end_effector_z_max_m": 0.2288, "gripper_min": 0.1634, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c84"}, "filepath": "data/pick_usb/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993889747573361, "task": "pick_usb", "episode_index": 28, "instruction": "Pick up the USB plug.", "num_frames": 708, "duration": 35.4, "fps": 20.0, "end_effector_path_m": 0.8246, "end_effector_z_min_m": 0.1437, "end_effector_z_max_m": 0.2296, "gripper_min": 0.1561, "gripper_max": 1.0113, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c85"}, "filepath": "data/pick_usb/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995106576712618, "task": "pick_usb", "episode_index": 29, "instruction": "Pick up the USB plug.", "num_frames": 665, "duration": 33.25, "fps": 20.0, "end_effector_path_m": 0.7864, "end_effector_z_min_m": 0.144, "end_effector_z_max_m": 0.2244, "gripper_min": 0.1588, "gripper_max": 1.0177, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c86"}, "filepath": "data/pick_usb/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996929323647261, "task": "pick_usb", "episode_index": 30, "instruction": "Pick up the USB plug.", "num_frames": 572, "duration": 28.6, "fps": 20.0, "end_effector_path_m": 0.7623, "end_effector_z_min_m": 0.1461, "end_effector_z_max_m": 0.2212, "gripper_min": 0.154, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c87"}, "filepath": "data/pick_usb/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994538481966468, "task": "pick_usb", "episode_index": 31, "instruction": "Pick up the USB plug.", "num_frames": 623, "duration": 31.150000000000002, "fps": 20.0, "end_effector_path_m": 0.7835, "end_effector_z_min_m": 0.1524, "end_effector_z_max_m": 0.2401, "gripper_min": 0.1369, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c88"}, "filepath": "data/pick_usb/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995234441290585, "task": "pick_usb", "episode_index": 32, "instruction": "Pick up the USB plug.", "num_frames": 570, "duration": 28.5, "fps": 20.0, "end_effector_path_m": 0.7002, "end_effector_z_min_m": 0.1463, "end_effector_z_max_m": 0.2319, "gripper_min": 0.1568, "gripper_max": 1.0179, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c89"}, "filepath": "data/pick_usb/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990984668010472, "task": "pick_usb", "episode_index": 33, "instruction": "Pick up the USB plug.", "num_frames": 863, "duration": 43.15, "fps": 20.0, "end_effector_path_m": 0.8415, "end_effector_z_min_m": 0.1441, "end_effector_z_max_m": 0.2666, "gripper_min": 0.1563, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c8a"}, "filepath": "data/pick_usb/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995465609669542, "task": "pick_usb", "episode_index": 34, "instruction": "Pick up the USB plug.", "num_frames": 817, "duration": 40.849999999999994, "fps": 20.0, "end_effector_path_m": 0.9148, "end_effector_z_min_m": 0.1421, "end_effector_z_max_m": 0.2529, "gripper_min": 0.1577, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.339Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.339Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c8b"}, "filepath": "data/pick_usb/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993910792704473, "task": "pick_usb", "episode_index": 35, "instruction": "Pick up the USB plug.", "num_frames": 841, "duration": 42.05, "fps": 20.0, "end_effector_path_m": 0.8919, "end_effector_z_min_m": 0.1446, "end_effector_z_max_m": 0.216, "gripper_min": 0.1644, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c8c"}, "filepath": "data/pick_usb/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993550951206344, "task": "pick_usb", "episode_index": 36, "instruction": "Pick up the USB plug.", "num_frames": 746, "duration": 37.3, "fps": 20.0, "end_effector_path_m": 0.8843, "end_effector_z_min_m": 0.1354, "end_effector_z_max_m": 0.2476, "gripper_min": 0.182, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c8d"}, "filepath": "data/pick_usb/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994656368575682, "task": "pick_usb", "episode_index": 37, "instruction": "Pick up the USB plug.", "num_frames": 670, "duration": 33.5, "fps": 20.0, "end_effector_path_m": 0.79, "end_effector_z_min_m": 0.1472, "end_effector_z_max_m": 0.2522, "gripper_min": 0.1595, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c8e"}, "filepath": "data/pick_usb/episode_038.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999191004088406, "task": "pick_usb", "episode_index": 38, "instruction": "Pick up the USB plug.", "num_frames": 658, "duration": 32.9, "fps": 20.0, "end_effector_path_m": 0.8214, "end_effector_z_min_m": 0.1411, "end_effector_z_max_m": 0.2278, "gripper_min": 0.1677, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c8f"}, "filepath": "data/pick_usb/episode_039.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997193378125977, "task": "pick_usb", "episode_index": 39, "instruction": "Pick up the USB plug.", "num_frames": 655, "duration": 32.75, "fps": 20.0, "end_effector_path_m": 0.773, "end_effector_z_min_m": 0.1385, "end_effector_z_max_m": 0.2413, "gripper_min": 0.1671, "gripper_max": 1.0171, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c90"}, "filepath": "data/pick_usb/episode_040.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998375358596274, "task": "pick_usb", "episode_index": 40, "instruction": "Pick up the USB plug.", "num_frames": 703, "duration": 35.15, "fps": 20.0, "end_effector_path_m": 0.8069, "end_effector_z_min_m": 0.1467, "end_effector_z_max_m": 0.2361, "gripper_min": 0.1588, "gripper_max": 1.0145, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c91"}, "filepath": "data/pick_usb/episode_041.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999208769783098, "task": "pick_usb", "episode_index": 41, "instruction": "Pick up the USB plug.", "num_frames": 618, "duration": 30.900000000000002, "fps": 20.0, "end_effector_path_m": 0.7818, "end_effector_z_min_m": 0.1474, "end_effector_z_max_m": 0.2186, "gripper_min": 0.1501, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c92"}, "filepath": "data/pick_usb/episode_042.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990441989612446, "task": "pick_usb", "episode_index": 42, "instruction": "Pick up the USB plug.", "num_frames": 731, "duration": 36.55, "fps": 20.0, "end_effector_path_m": 0.7964, "end_effector_z_min_m": 0.1461, "end_effector_z_max_m": 0.2284, "gripper_min": 0.1501, "gripper_max": 1.0256, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c93"}, "filepath": "data/pick_usb/episode_043.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997315056541131, "task": "pick_usb", "episode_index": 43, "instruction": "Pick up the USB plug.", "num_frames": 769, "duration": 38.449999999999996, "fps": 20.0, "end_effector_path_m": 0.8443, "end_effector_z_min_m": 0.1401, "end_effector_z_max_m": 0.2136, "gripper_min": 0.1696, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c94"}, "filepath": "data/pick_usb/episode_044.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994797611008949, "task": "pick_usb", "episode_index": 44, "instruction": "Pick up the USB plug.", "num_frames": 826, "duration": 41.3, "fps": 20.0, "end_effector_path_m": 0.9342, "end_effector_z_min_m": 0.1352, "end_effector_z_max_m": 0.2035, "gripper_min": 0.1634, "gripper_max": 1.0147, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c95"}, "filepath": "data/pick_usb/episode_045.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998811036783497, "task": "pick_usb", "episode_index": 45, "instruction": "Pick up the USB plug.", "num_frames": 567, "duration": 28.35, "fps": 20.0, "end_effector_path_m": 0.6612, "end_effector_z_min_m": 0.1365, "end_effector_z_max_m": 0.2057, "gripper_min": 0.1819, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c96"}, "filepath": "data/pick_usb/episode_046.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992797174844456, "task": "pick_usb", "episode_index": 46, "instruction": "Pick up the USB plug.", "num_frames": 579, "duration": 28.95, "fps": 20.0, "end_effector_path_m": 0.7028, "end_effector_z_min_m": 0.1416, "end_effector_z_max_m": 0.2108, "gripper_min": 0.1564, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c97"}, "filepath": "data/pick_usb/episode_047.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996912338899634, "task": "pick_usb", "episode_index": 47, "instruction": "Pick up the USB plug.", "num_frames": 862, "duration": 43.099999999999994, "fps": 20.0, "end_effector_path_m": 0.9541, "end_effector_z_min_m": 0.1399, "end_effector_z_max_m": 0.205, "gripper_min": 0.1683, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.340Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.340Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c98"}, "filepath": "data/pick_usb/episode_048.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994159199835317, "task": "pick_usb", "episode_index": 48, "instruction": "Pick up the USB plug.", "num_frames": 578, "duration": 28.900000000000002, "fps": 20.0, "end_effector_path_m": 0.7193, "end_effector_z_min_m": 0.1426, "end_effector_z_max_m": 0.2126, "gripper_min": 0.1569, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c99"}, "filepath": "data/pick_usb/episode_049.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997124518536787, "task": "pick_usb", "episode_index": 49, "instruction": "Pick up the USB plug.", "num_frames": 553, "duration": 27.650000000000002, "fps": 20.0, "end_effector_path_m": 0.7274, "end_effector_z_min_m": 0.1345, "end_effector_z_max_m": 0.2036, "gripper_min": 0.1638, "gripper_max": 1.0126, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c9a"}, "filepath": "data/pick_usb/episode_050.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99998363536156, "task": "pick_usb", "episode_index": 50, "instruction": "Pick up the USB plug.", "num_frames": 798, "duration": 39.9, "fps": 20.0, "end_effector_path_m": 0.9655, "end_effector_z_min_m": 0.1342, "end_effector_z_max_m": 0.1994, "gripper_min": 0.1641, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c9b"}, "filepath": "data/pick_usb/episode_051.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995954272652563, "task": "pick_usb", "episode_index": 51, "instruction": "Pick up the USB plug.", "num_frames": 601, "duration": 30.05, "fps": 20.0, "end_effector_path_m": 0.731, "end_effector_z_min_m": 0.1455, "end_effector_z_max_m": 0.2224, "gripper_min": 0.1503, "gripper_max": 1.011, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c9c"}, "filepath": "data/pick_usb/episode_052.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993076768198119, "task": "pick_usb", "episode_index": 52, "instruction": "Pick up the USB plug.", "num_frames": 720, "duration": 36.0, "fps": 20.0, "end_effector_path_m": 0.7595, "end_effector_z_min_m": 0.1422, "end_effector_z_max_m": 0.2134, "gripper_min": 0.1538, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c9d"}, "filepath": "data/pick_usb/episode_053.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990274130758718, "task": "pick_usb", "episode_index": 53, "instruction": "Pick up the USB plug.", "num_frames": 727, "duration": 36.349999999999994, "fps": 20.0, "end_effector_path_m": 0.8046, "end_effector_z_min_m": 0.1443, "end_effector_z_max_m": 0.2294, "gripper_min": 0.1642, "gripper_max": 1.0147, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c9e"}, "filepath": "data/pick_usb/episode_054.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990205183724128, "task": "pick_usb", "episode_index": 54, "instruction": "Pick up the USB plug.", "num_frames": 624, "duration": 31.2, "fps": 20.0, "end_effector_path_m": 0.7686, "end_effector_z_min_m": 0.1459, "end_effector_z_max_m": 0.213, "gripper_min": 0.159, "gripper_max": 1.0266, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849c9f"}, "filepath": "data/pick_usb/episode_055.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992730232383408, "task": "pick_usb", "episode_index": 55, "instruction": "Pick up the USB plug.", "num_frames": 738, "duration": 36.9, "fps": 20.0, "end_effector_path_m": 0.8935, "end_effector_z_min_m": 0.1362, "end_effector_z_max_m": 0.2124, "gripper_min": 0.1589, "gripper_max": 1.0105, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca0"}, "filepath": "data/pick_usb/episode_056.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998465850887037, "task": "pick_usb", "episode_index": 56, "instruction": "Pick up the USB plug.", "num_frames": 756, "duration": 37.8, "fps": 20.0, "end_effector_path_m": 0.8448, "end_effector_z_min_m": 0.146, "end_effector_z_max_m": 0.2252, "gripper_min": 0.1513, "gripper_max": 1.02, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca1"}, "filepath": "data/pick_usb/episode_057.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999889549764078, "task": "pick_usb", "episode_index": 57, "instruction": "Pick up the USB plug.", "num_frames": 845, "duration": 42.25, "fps": 20.0, "end_effector_path_m": 0.8782, "end_effector_z_min_m": 0.1393, "end_effector_z_max_m": 0.2133, "gripper_min": 0.1757, "gripper_max": 1.0131, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca2"}, "filepath": "data/pick_usb/episode_058.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992407807840857, "task": "pick_usb", "episode_index": 58, "instruction": "Pick up the USB plug.", "num_frames": 591, "duration": 29.55, "fps": 20.0, "end_effector_path_m": 0.6973, "end_effector_z_min_m": 0.1356, "end_effector_z_max_m": 0.21, "gripper_min": 0.1583, "gripper_max": 1.0245, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca3"}, "filepath": "data/pick_usb/episode_059.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992585858361992, "task": "pick_usb", "episode_index": 59, "instruction": "Pick up the USB plug.", "num_frames": 786, "duration": 39.3, "fps": 20.0, "end_effector_path_m": 0.8113, "end_effector_z_min_m": 0.1307, "end_effector_z_max_m": 0.1995, "gripper_min": 0.1867, "gripper_max": 1.0145, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca4"}, "filepath": "data/pick_usb/episode_060.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992465932280562, "task": "pick_usb", "episode_index": 60, "instruction": "Pick up the USB plug.", "num_frames": 710, "duration": 35.5, "fps": 20.0, "end_effector_path_m": 0.6972, "end_effector_z_min_m": 0.1448, "end_effector_z_max_m": 0.2053, "gripper_min": 0.1507, "gripper_max": 1.0198, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.341Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.341Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca5"}, "filepath": "data/pick_usb/episode_061.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997041789776787, "task": "pick_usb", "episode_index": 61, "instruction": "Pick up the USB plug.", "num_frames": 754, "duration": 37.699999999999996, "fps": 20.0, "end_effector_path_m": 0.7778, "end_effector_z_min_m": 0.1371, "end_effector_z_max_m": 0.2079, "gripper_min": 0.1515, "gripper_max": 1.0159, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca6"}, "filepath": "data/pick_usb/episode_062.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995769253298943, "task": "pick_usb", "episode_index": 62, "instruction": "Pick up the USB plug.", "num_frames": 685, "duration": 34.25, "fps": 20.0, "end_effector_path_m": 0.6984, "end_effector_z_min_m": 0.1448, "end_effector_z_max_m": 0.2019, "gripper_min": 0.1509, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca7"}, "filepath": "data/pick_usb/episode_063.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995826760083925, "task": "pick_usb", "episode_index": 63, "instruction": "Pick up the USB plug.", "num_frames": 698, "duration": 34.9, "fps": 20.0, "end_effector_path_m": 0.7793, "end_effector_z_min_m": 0.1452, "end_effector_z_max_m": 0.2232, "gripper_min": 0.1668, "gripper_max": 1.0149, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca8"}, "filepath": "data/pick_usb/episode_064.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992549294998623, "task": "pick_usb", "episode_index": 64, "instruction": "Pick up the USB plug.", "num_frames": 779, "duration": 38.949999999999996, "fps": 20.0, "end_effector_path_m": 0.7964, "end_effector_z_min_m": 0.1257, "end_effector_z_max_m": 0.1977, "gripper_min": 0.1636, "gripper_max": 1.0118, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ca9"}, "filepath": "data/pick_usb/episode_065.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992028689882007, "task": "pick_usb", "episode_index": 65, "instruction": "Pick up the USB plug.", "num_frames": 739, "duration": 36.949999999999996, "fps": 20.0, "end_effector_path_m": 0.9741, "end_effector_z_min_m": 0.127, "end_effector_z_max_m": 0.2462, "gripper_min": 0.1644, "gripper_max": 1.0139, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849caa"}, "filepath": "data/pick_usb/episode_066.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999573146178221, "task": "pick_usb", "episode_index": 66, "instruction": "Pick up the USB plug.", "num_frames": 736, "duration": 36.8, "fps": 20.0, "end_effector_path_m": 0.7685, "end_effector_z_min_m": 0.145, "end_effector_z_max_m": 0.2235, "gripper_min": 0.17, "gripper_max": 1.0231, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cab"}, "filepath": "data/pick_usb/episode_067.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999142036213604, "task": "pick_usb", "episode_index": 67, "instruction": "Pick up the USB plug.", "num_frames": 734, "duration": 36.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8229, "end_effector_z_min_m": 0.1486, "end_effector_z_max_m": 0.2354, "gripper_min": 0.1559, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cac"}, "filepath": "data/pick_usb/episode_068.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995028629933971, "task": "pick_usb", "episode_index": 68, "instruction": "Pick up the USB plug.", "num_frames": 704, "duration": 35.199999999999996, "fps": 20.0, "end_effector_path_m": 0.7865, "end_effector_z_min_m": 0.1464, "end_effector_z_max_m": 0.2166, "gripper_min": 0.1496, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cad"}, "filepath": "data/pick_usb/episode_069.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999617571929047, "task": "pick_usb", "episode_index": 69, "instruction": "Pick up the USB plug.", "num_frames": 898, "duration": 44.9, "fps": 20.0, "end_effector_path_m": 0.9409, "end_effector_z_min_m": 0.144, "end_effector_z_max_m": 0.237, "gripper_min": 0.1512, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cae"}, "filepath": "data/pick_usb/episode_070.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999730104837669, "task": "pick_usb", "episode_index": 70, "instruction": "Pick up the USB plug.", "num_frames": 845, "duration": 42.25, "fps": 20.0, "end_effector_path_m": 0.9252, "end_effector_z_min_m": 0.1449, "end_effector_z_max_m": 0.2116, "gripper_min": 0.163, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849caf"}, "filepath": "data/pick_usb/episode_071.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990204815287392, "task": "pick_usb", "episode_index": 71, "instruction": "Pick up the USB plug.", "num_frames": 811, "duration": 40.55, "fps": 20.0, "end_effector_path_m": 0.8877, "end_effector_z_min_m": 0.1411, "end_effector_z_max_m": 0.2028, "gripper_min": 0.1798, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb0"}, "filepath": "data/pick_usb/episode_072.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999110067882152, "task": "pick_usb", "episode_index": 72, "instruction": "Pick up the USB plug.", "num_frames": 560, "duration": 28.0, "fps": 20.0, "end_effector_path_m": 0.7273, "end_effector_z_min_m": 0.1449, "end_effector_z_max_m": 0.2491, "gripper_min": 0.1702, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.342Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.342Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb1"}, "filepath": "data/pick_usb/episode_073.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997946486166267, "task": "pick_usb", "episode_index": 73, "instruction": "Pick up the USB plug.", "num_frames": 727, "duration": 36.349999999999994, "fps": 20.0, "end_effector_path_m": 0.8795, "end_effector_z_min_m": 0.1517, "end_effector_z_max_m": 0.2502, "gripper_min": 0.1391, "gripper_max": 1.0225, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb2"}, "filepath": "data/pick_usb/episode_074.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997960310079299, "task": "pick_usb", "episode_index": 74, "instruction": "Pick up the USB plug.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.7064, "end_effector_z_min_m": 0.1576, "end_effector_z_max_m": 0.2179, "gripper_min": 0.1317, "gripper_max": 1.026, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb3"}, "filepath": "data/pick_usb/episode_075.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990808581704227, "task": "pick_usb", "episode_index": 75, "instruction": "Pick up the USB plug.", "num_frames": 626, "duration": 31.3, "fps": 20.0, "end_effector_path_m": 0.7145, "end_effector_z_min_m": 0.1437, "end_effector_z_max_m": 0.2115, "gripper_min": 0.1631, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb4"}, "filepath": "data/pick_usb/episode_076.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991724614683679, "task": "pick_usb", "episode_index": 76, "instruction": "Pick up the USB plug.", "num_frames": 719, "duration": 35.949999999999996, "fps": 20.0, "end_effector_path_m": 0.7515, "end_effector_z_min_m": 0.1345, "end_effector_z_max_m": 0.2378, "gripper_min": 0.1707, "gripper_max": 1.0103, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb5"}, "filepath": "data/pick_usb/episode_077.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998800988303698, "task": "pick_usb", "episode_index": 77, "instruction": "Pick up the USB plug.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.7803, "end_effector_z_min_m": 0.1304, "end_effector_z_max_m": 0.2187, "gripper_min": 0.1814, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb6"}, "filepath": "data/pick_usb/episode_078.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996476129069167, "task": "pick_usb", "episode_index": 78, "instruction": "Pick up the USB plug.", "num_frames": 665, "duration": 33.25, "fps": 20.0, "end_effector_path_m": 0.7326, "end_effector_z_min_m": 0.1428, "end_effector_z_max_m": 0.2035, "gripper_min": 0.1662, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb7"}, "filepath": "data/pick_usb/episode_079.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999817597295623, "task": "pick_usb", "episode_index": 79, "instruction": "Pick up the USB plug.", "num_frames": 690, "duration": 34.5, "fps": 20.0, "end_effector_path_m": 0.7572, "end_effector_z_min_m": 0.1372, "end_effector_z_max_m": 0.2395, "gripper_min": 0.1759, "gripper_max": 1.0188, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb8"}, "filepath": "data/pick_usb/episode_080.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999362792541067, "task": "pick_usb", "episode_index": 80, "instruction": "Pick up the USB plug.", "num_frames": 634, "duration": 31.7, "fps": 20.0, "end_effector_path_m": 0.6788, "end_effector_z_min_m": 0.1405, "end_effector_z_max_m": 0.2219, "gripper_min": 0.1588, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cb9"}, "filepath": "data/pick_usb/episode_081.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999801450129372, "task": "pick_usb", "episode_index": 81, "instruction": "Pick up the USB plug.", "num_frames": 567, "duration": 28.35, "fps": 20.0, "end_effector_path_m": 0.6684, "end_effector_z_min_m": 0.1456, "end_effector_z_max_m": 0.2251, "gripper_min": 0.1509, "gripper_max": 1.0168, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cba"}, "filepath": "data/pick_usb/episode_082.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993127243162007, "task": "pick_usb", "episode_index": 82, "instruction": "Pick up the USB plug.", "num_frames": 595, "duration": 29.75, "fps": 20.0, "end_effector_path_m": 0.6145, "end_effector_z_min_m": 0.1449, "end_effector_z_max_m": 0.2362, "gripper_min": 0.1576, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cbb"}, "filepath": "data/pick_usb/episode_083.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990825262661145, "task": "pick_usb", "episode_index": 83, "instruction": "Pick up the USB plug.", "num_frames": 536, "duration": 26.8, "fps": 20.0, "end_effector_path_m": 0.6856, "end_effector_z_min_m": 0.1415, "end_effector_z_max_m": 0.2304, "gripper_min": 0.1625, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cbc"}, "filepath": "data/pick_usb/episode_084.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990582346764177, "task": "pick_usb", "episode_index": 84, "instruction": "Pick up the USB plug.", "num_frames": 632, "duration": 31.6, "fps": 20.0, "end_effector_path_m": 0.7889, "end_effector_z_min_m": 0.1415, "end_effector_z_max_m": 0.2574, "gripper_min": 0.1706, "gripper_max": 1.0246, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cbd"}, "filepath": "data/pick_usb/episode_085.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992243480971963, "task": "pick_usb", "episode_index": 85, "instruction": "Pick up the USB plug.", "num_frames": 565, "duration": 28.25, "fps": 20.0, "end_effector_path_m": 0.6326, "end_effector_z_min_m": 0.1415, "end_effector_z_max_m": 0.2044, "gripper_min": 0.1698, "gripper_max": 1.0152, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.343Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.343Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cbe"}, "filepath": "data/pick_usb/episode_086.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993009601301182, "task": "pick_usb", "episode_index": 86, "instruction": "Pick up the USB plug.", "num_frames": 683, "duration": 34.15, "fps": 20.0, "end_effector_path_m": 0.7772, "end_effector_z_min_m": 0.1381, "end_effector_z_max_m": 0.2077, "gripper_min": 0.1763, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cbf"}, "filepath": "data/pick_usb/episode_087.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998859148208381, "task": "pick_usb", "episode_index": 87, "instruction": "Pick up the USB plug.", "num_frames": 589, "duration": 29.45, "fps": 20.0, "end_effector_path_m": 0.7868, "end_effector_z_min_m": 0.1385, "end_effector_z_max_m": 0.2267, "gripper_min": 0.16, "gripper_max": 1.0113, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc0"}, "filepath": "data/pick_usb/episode_088.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996268108926112, "task": "pick_usb", "episode_index": 88, "instruction": "Pick up the USB plug.", "num_frames": 585, "duration": 29.25, "fps": 20.0, "end_effector_path_m": 0.7172, "end_effector_z_min_m": 0.1481, "end_effector_z_max_m": 0.251, "gripper_min": 0.1486, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc1"}, "filepath": "data/pick_usb/episode_089.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998020602624664, "task": "pick_usb", "episode_index": 89, "instruction": "Pick up the USB plug.", "num_frames": 625, "duration": 31.25, "fps": 20.0, "end_effector_path_m": 0.7035, "end_effector_z_min_m": 0.1489, "end_effector_z_max_m": 0.2277, "gripper_min": 0.1622, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc2"}, "filepath": "data/pick_usb/episode_090.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998453484596149, "task": "pick_usb", "episode_index": 90, "instruction": "Pick up the USB plug.", "num_frames": 530, "duration": 26.5, "fps": 20.0, "end_effector_path_m": 0.6916, "end_effector_z_min_m": 0.1531, "end_effector_z_max_m": 0.215, "gripper_min": 0.1425, "gripper_max": 1.0213, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc3"}, "filepath": "data/pick_usb/episode_091.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994547020448555, "task": "pick_usb", "episode_index": 91, "instruction": "Pick up the USB plug.", "num_frames": 569, "duration": 28.45, "fps": 20.0, "end_effector_path_m": 0.6701, "end_effector_z_min_m": 0.1501, "end_effector_z_max_m": 0.2141, "gripper_min": 0.1477, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc4"}, "filepath": "data/pick_usb/episode_092.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999571440732009, "task": "pick_usb", "episode_index": 92, "instruction": "Pick up the USB plug.", "num_frames": 554, "duration": 27.7, "fps": 20.0, "end_effector_path_m": 0.7534, "end_effector_z_min_m": 0.1369, "end_effector_z_max_m": 0.2093, "gripper_min": 0.162, "gripper_max": 1.0211, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc5"}, "filepath": "data/pick_usb/episode_093.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998831997474668, "task": "pick_usb", "episode_index": 93, "instruction": "Pick up the USB plug.", "num_frames": 662, "duration": 33.099999999999994, "fps": 20.0, "end_effector_path_m": 0.7216, "end_effector_z_min_m": 0.1459, "end_effector_z_max_m": 0.2168, "gripper_min": 0.1629, "gripper_max": 1.0265, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc6"}, "filepath": "data/pick_usb/episode_094.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997456252869041, "task": "pick_usb", "episode_index": 94, "instruction": "Pick up the USB plug.", "num_frames": 562, "duration": 28.1, "fps": 20.0, "end_effector_path_m": 0.6783, "end_effector_z_min_m": 0.1441, "end_effector_z_max_m": 0.2175, "gripper_min": 0.155, "gripper_max": 1.0266, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.344Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.344Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc7"}, "filepath": "data/pick_usb/episode_095.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991288140487419, "task": "pick_usb", "episode_index": 95, "instruction": "Pick up the USB plug.", "num_frames": 674, "duration": 33.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8226, "end_effector_z_min_m": 0.1368, "end_effector_z_max_m": 0.2102, "gripper_min": 0.1761, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc8"}, "filepath": "data/pick_usb/episode_096.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99909974897995, "task": "pick_usb", "episode_index": 96, "instruction": "Pick up the USB plug.", "num_frames": 612, "duration": 30.6, "fps": 20.0, "end_effector_path_m": 0.829, "end_effector_z_min_m": 0.1475, "end_effector_z_max_m": 0.2737, "gripper_min": 0.1503, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cc9"}, "filepath": "data/pick_usb/episode_097.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993491389072072, "task": "pick_usb", "episode_index": 97, "instruction": "Pick up the USB plug.", "num_frames": 541, "duration": 27.05, "fps": 20.0, "end_effector_path_m": 0.6637, "end_effector_z_min_m": 0.1434, "end_effector_z_max_m": 0.2133, "gripper_min": 0.1666, "gripper_max": 1.0165, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cca"}, "filepath": "data/pick_usb/episode_098.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991503445058372, "task": "pick_usb", "episode_index": 98, "instruction": "Pick up the USB plug.", "num_frames": 638, "duration": 31.900000000000002, "fps": 20.0, "end_effector_path_m": 0.6804, "end_effector_z_min_m": 0.1438, "end_effector_z_max_m": 0.2312, "gripper_min": 0.1522, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ccb"}, "filepath": "data/pick_usb/episode_099.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991164789841612, "task": "pick_usb", "episode_index": 99, "instruction": "Pick up the USB plug.", "num_frames": 677, "duration": 33.849999999999994, "fps": 20.0, "end_effector_path_m": 0.6798, "end_effector_z_min_m": 0.1457, "end_effector_z_max_m": 0.238, "gripper_min": 0.157, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ccc"}, "filepath": "data/pick_usb/episode_100.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994438810277748, "task": "pick_usb", "episode_index": 100, "instruction": "Pick up the USB plug.", "num_frames": 666, "duration": 33.3, "fps": 20.0, "end_effector_path_m": 0.7148, "end_effector_z_min_m": 0.1436, "end_effector_z_max_m": 0.2107, "gripper_min": 0.1723, "gripper_max": 1.0099, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ccd"}, "filepath": "data/pick_usb/episode_101.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992076128327192, "task": "pick_usb", "episode_index": 101, "instruction": "Pick up the USB plug.", "num_frames": 437, "duration": 21.85, "fps": 20.0, "end_effector_path_m": 0.5353, "end_effector_z_min_m": 0.1416, "end_effector_z_max_m": 0.2033, "gripper_min": 0.1564, "gripper_max": 1.0148, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cce"}, "filepath": "data/push_hongzhong_pos1/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999819149601185, "task": "push_hongzhong_pos1", "episode_index": 0, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 479, "duration": 23.95, "fps": 20.0, "end_effector_path_m": 0.4224, "end_effector_z_min_m": 0.0874, "end_effector_z_max_m": 0.1928, "gripper_min": 0.1479, "gripper_max": 1.012, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ccf"}, "filepath": "data/push_hongzhong_pos1/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997305615150276, "task": "push_hongzhong_pos1", "episode_index": 1, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 505, "duration": 25.25, "fps": 20.0, "end_effector_path_m": 0.4327, "end_effector_z_min_m": 0.0923, "end_effector_z_max_m": 0.2, "gripper_min": 0.1376, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd0"}, "filepath": "data/push_hongzhong_pos1/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996421337986403, "task": "push_hongzhong_pos1", "episode_index": 2, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 580, "duration": 29.0, "fps": 20.0, "end_effector_path_m": 0.4967, "end_effector_z_min_m": 0.0945, "end_effector_z_max_m": 0.1994, "gripper_min": 0.1325, "gripper_max": 1.0123, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd1"}, "filepath": "data/push_hongzhong_pos1/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999908495218218, "task": "push_hongzhong_pos1", "episode_index": 3, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 505, "duration": 25.25, "fps": 20.0, "end_effector_path_m": 0.4973, "end_effector_z_min_m": 0.0969, "end_effector_z_max_m": 0.2024, "gripper_min": 0.1255, "gripper_max": 1.0118, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd2"}, "filepath": "data/push_hongzhong_pos1/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990784370711743, "task": "push_hongzhong_pos1", "episode_index": 4, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 596, "duration": 29.8, "fps": 20.0, "end_effector_path_m": 0.4804, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.2004, "gripper_min": 0.1496, "gripper_max": 1.0107, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.345Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.345Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd3"}, "filepath": "data/push_hongzhong_pos1/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993791120769998, "task": "push_hongzhong_pos1", "episode_index": 5, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 515, "duration": 25.75, "fps": 20.0, "end_effector_path_m": 0.4445, "end_effector_z_min_m": 0.091, "end_effector_z_max_m": 0.1951, "gripper_min": 0.1398, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd4"}, "filepath": "data/push_hongzhong_pos1/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997039536628904, "task": "push_hongzhong_pos1", "episode_index": 6, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 625, "duration": 31.25, "fps": 20.0, "end_effector_path_m": 0.552, "end_effector_z_min_m": 0.0876, "end_effector_z_max_m": 0.2001, "gripper_min": 0.1455, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd5"}, "filepath": "data/push_hongzhong_pos1/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994617967333261, "task": "push_hongzhong_pos1", "episode_index": 7, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 543, "duration": 27.150000000000002, "fps": 20.0, "end_effector_path_m": 0.5122, "end_effector_z_min_m": 0.0871, "end_effector_z_max_m": 0.2014, "gripper_min": 0.131, "gripper_max": 1.0117, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd6"}, "filepath": "data/push_hongzhong_pos1/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997564601001412, "task": "push_hongzhong_pos1", "episode_index": 8, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 495, "duration": 24.75, "fps": 20.0, "end_effector_path_m": 0.443, "end_effector_z_min_m": 0.0891, "end_effector_z_max_m": 0.201, "gripper_min": 0.1436, "gripper_max": 1.0134, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd7"}, "filepath": "data/push_hongzhong_pos1/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991650152021556, "task": "push_hongzhong_pos1", "episode_index": 9, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 506, "duration": 25.3, "fps": 20.0, "end_effector_path_m": 0.5693, "end_effector_z_min_m": 0.0884, "end_effector_z_max_m": 0.1994, "gripper_min": 0.1416, "gripper_max": 1.0271, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd8"}, "filepath": "data/push_hongzhong_pos1/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998859275670757, "task": "push_hongzhong_pos1", "episode_index": 10, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 603, "duration": 30.150000000000002, "fps": 20.0, "end_effector_path_m": 0.4134, "end_effector_z_min_m": 0.0934, "end_effector_z_max_m": 0.1999, "gripper_min": 0.1364, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cd9"}, "filepath": "data/push_hongzhong_pos1/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994026556407702, "task": "push_hongzhong_pos1", "episode_index": 11, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 620, "duration": 31.0, "fps": 20.0, "end_effector_path_m": 0.4635, "end_effector_z_min_m": 0.0899, "end_effector_z_max_m": 0.1966, "gripper_min": 0.1431, "gripper_max": 1.0223, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cda"}, "filepath": "data/push_hongzhong_pos1/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998660762368868, "task": "push_hongzhong_pos1", "episode_index": 12, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 562, "duration": 28.1, "fps": 20.0, "end_effector_path_m": 0.4221, "end_effector_z_min_m": 0.087, "end_effector_z_max_m": 0.1989, "gripper_min": 0.1285, "gripper_max": 1.0181, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cdb"}, "filepath": "data/push_hongzhong_pos1/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992880005662983, "task": "push_hongzhong_pos1", "episode_index": 13, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 566, "duration": 28.3, "fps": 20.0, "end_effector_path_m": 0.4721, "end_effector_z_min_m": 0.0894, "end_effector_z_max_m": 0.1987, "gripper_min": 0.1422, "gripper_max": 1.0149, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cdc"}, "filepath": "data/push_hongzhong_pos1/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996538695651818, "task": "push_hongzhong_pos1", "episode_index": 14, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 550, "duration": 27.5, "fps": 20.0, "end_effector_path_m": 0.5081, "end_effector_z_min_m": 0.0852, "end_effector_z_max_m": 0.1982, "gripper_min": 0.1513, "gripper_max": 1.0278, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cdd"}, "filepath": "data/push_hongzhong_pos1/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993217579446353, "task": "push_hongzhong_pos1", "episode_index": 15, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 603, "duration": 30.150000000000002, "fps": 20.0, "end_effector_path_m": 0.433, "end_effector_z_min_m": 0.0889, "end_effector_z_max_m": 0.1989, "gripper_min": 0.1437, "gripper_max": 1.0195, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cde"}, "filepath": "data/push_hongzhong_pos1/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996157484105345, "task": "push_hongzhong_pos1", "episode_index": 16, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 548, "duration": 27.400000000000002, "fps": 20.0, "end_effector_path_m": 0.5025, "end_effector_z_min_m": 0.0887, "end_effector_z_max_m": 0.2147, "gripper_min": 0.1432, "gripper_max": 1.0134, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.346Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.346Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cdf"}, "filepath": "data/push_hongzhong_pos1/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990288827985893, "task": "push_hongzhong_pos1", "episode_index": 17, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 533, "duration": 26.650000000000002, "fps": 20.0, "end_effector_path_m": 0.5263, "end_effector_z_min_m": 0.0912, "end_effector_z_max_m": 0.2098, "gripper_min": 0.1366, "gripper_max": 1.0249, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce0"}, "filepath": "data/push_hongzhong_pos1/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994544778815104, "task": "push_hongzhong_pos1", "episode_index": 18, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 496, "duration": 24.8, "fps": 20.0, "end_effector_path_m": 0.4322, "end_effector_z_min_m": 0.0891, "end_effector_z_max_m": 0.1935, "gripper_min": 0.1342, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce1"}, "filepath": "data/push_hongzhong_pos1/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997960803519876, "task": "push_hongzhong_pos1", "episode_index": 19, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 561, "duration": 28.05, "fps": 20.0, "end_effector_path_m": 0.4763, "end_effector_z_min_m": 0.088, "end_effector_z_max_m": 0.1993, "gripper_min": 0.1436, "gripper_max": 1.0128, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce2"}, "filepath": "data/push_hongzhong_pos1/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994230230873385, "task": "push_hongzhong_pos1", "episode_index": 20, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 546, "duration": 27.3, "fps": 20.0, "end_effector_path_m": 0.5216, "end_effector_z_min_m": 0.09, "end_effector_z_max_m": 0.1992, "gripper_min": 0.1381, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce3"}, "filepath": "data/push_hongzhong_pos1/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997011904775805, "task": "push_hongzhong_pos1", "episode_index": 21, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 518, "duration": 25.900000000000002, "fps": 20.0, "end_effector_path_m": 0.4656, "end_effector_z_min_m": 0.0877, "end_effector_z_max_m": 0.2061, "gripper_min": 0.1433, "gripper_max": 1.0151, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce4"}, "filepath": "data/push_hongzhong_pos1/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993784221931843, "task": "push_hongzhong_pos1", "episode_index": 22, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 546, "duration": 27.3, "fps": 20.0, "end_effector_path_m": 0.5091, "end_effector_z_min_m": 0.0878, "end_effector_z_max_m": 0.1964, "gripper_min": 0.1434, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce5"}, "filepath": "data/push_hongzhong_pos1/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99977220716409, "task": "push_hongzhong_pos1", "episode_index": 23, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 507, "duration": 25.35, "fps": 20.0, "end_effector_path_m": 0.4566, "end_effector_z_min_m": 0.0907, "end_effector_z_max_m": 0.1986, "gripper_min": 0.1392, "gripper_max": 1.0145, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce6"}, "filepath": "data/push_hongzhong_pos1/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999739295342633, "task": "push_hongzhong_pos1", "episode_index": 24, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 497, "duration": 24.85, "fps": 20.0, "end_effector_path_m": 0.4712, "end_effector_z_min_m": 0.0894, "end_effector_z_max_m": 0.2117, "gripper_min": 0.1393, "gripper_max": 1.0177, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce7"}, "filepath": "data/push_hongzhong_pos1/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999955378126544, "task": "push_hongzhong_pos1", "episode_index": 25, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 444, "duration": 22.2, "fps": 20.0, "end_effector_path_m": 0.4295, "end_effector_z_min_m": 0.0884, "end_effector_z_max_m": 0.1999, "gripper_min": 0.1435, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce8"}, "filepath": "data/push_hongzhong_pos1/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997361476434532, "task": "push_hongzhong_pos1", "episode_index": 26, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 571, "duration": 28.55, "fps": 20.0, "end_effector_path_m": 0.4966, "end_effector_z_min_m": 0.0881, "end_effector_z_max_m": 0.1982, "gripper_min": 0.1459, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ce9"}, "filepath": "data/push_hongzhong_pos1/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993569913013222, "task": "push_hongzhong_pos1", "episode_index": 27, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 757, "duration": 37.849999999999994, "fps": 20.0, "end_effector_path_m": 0.7211, "end_effector_z_min_m": 0.0889, "end_effector_z_max_m": 0.1982, "gripper_min": 0.143, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cea"}, "filepath": "data/push_hongzhong_pos1/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998516308423944, "task": "push_hongzhong_pos1", "episode_index": 28, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 581, "duration": 29.05, "fps": 20.0, "end_effector_path_m": 0.5641, "end_effector_z_min_m": 0.091, "end_effector_z_max_m": 0.2026, "gripper_min": 0.1384, "gripper_max": 1.0193, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ceb"}, "filepath": "data/push_hongzhong_pos1/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990751329879412, "task": "push_hongzhong_pos1", "episode_index": 29, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 666, "duration": 33.3, "fps": 20.0, "end_effector_path_m": 0.5412, "end_effector_z_min_m": 0.086, "end_effector_z_max_m": 0.1993, "gripper_min": 0.1423, "gripper_max": 1.0149, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.347Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.347Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cec"}, "filepath": "data/push_hongzhong_pos1/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999977357385662, "task": "push_hongzhong_pos1", "episode_index": 30, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 558, "duration": 27.900000000000002, "fps": 20.0, "end_effector_path_m": 0.5295, "end_effector_z_min_m": 0.0892, "end_effector_z_max_m": 0.1991, "gripper_min": 0.1432, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849ced"}, "filepath": "data/push_hongzhong_pos1/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990048854744781, "task": "push_hongzhong_pos1", "episode_index": 31, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 595, "duration": 29.75, "fps": 20.0, "end_effector_path_m": 0.5735, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.1985, "gripper_min": 0.1479, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cee"}, "filepath": "data/push_hongzhong_pos1/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999702611889592, "task": "push_hongzhong_pos1", "episode_index": 32, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 579, "duration": 28.95, "fps": 20.0, "end_effector_path_m": 0.4689, "end_effector_z_min_m": 0.0877, "end_effector_z_max_m": 0.1967, "gripper_min": 0.1416, "gripper_max": 1.0113, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cef"}, "filepath": "data/push_hongzhong_pos2/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995945276363503, "task": "push_hongzhong_pos2", "episode_index": 0, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 799, "duration": 39.949999999999996, "fps": 20.0, "end_effector_path_m": 0.689, "end_effector_z_min_m": 0.0866, "end_effector_z_max_m": 0.1945, "gripper_min": 0.1439, "gripper_max": 1.0285, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf0"}, "filepath": "data/push_hongzhong_pos2/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995089364247849, "task": "push_hongzhong_pos2", "episode_index": 1, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 827, "duration": 41.349999999999994, "fps": 20.0, "end_effector_path_m": 0.7471, "end_effector_z_min_m": 0.0882, "end_effector_z_max_m": 0.1983, "gripper_min": 0.1377, "gripper_max": 1.0179, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf1"}, "filepath": "data/push_hongzhong_pos2/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993363213179223, "task": "push_hongzhong_pos2", "episode_index": 2, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 702, "duration": 35.099999999999994, "fps": 20.0, "end_effector_path_m": 0.5958, "end_effector_z_min_m": 0.088, "end_effector_z_max_m": 0.1993, "gripper_min": 0.1432, "gripper_max": 1.0198, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf2"}, "filepath": "data/push_hongzhong_pos2/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994217299027738, "task": "push_hongzhong_pos2", "episode_index": 3, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 768, "duration": 38.4, "fps": 20.0, "end_effector_path_m": 0.6459, "end_effector_z_min_m": 0.0877, "end_effector_z_max_m": 0.1985, "gripper_min": 0.1293, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf3"}, "filepath": "data/push_hongzhong_pos2/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990623888119154, "task": "push_hongzhong_pos2", "episode_index": 4, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 920, "duration": 46.0, "fps": 20.0, "end_effector_path_m": 0.6382, "end_effector_z_min_m": 0.0859, "end_effector_z_max_m": 0.1976, "gripper_min": 0.1331, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf4"}, "filepath": "data/push_hongzhong_pos2/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994056688716177, "task": "push_hongzhong_pos2", "episode_index": 5, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 879, "duration": 43.949999999999996, "fps": 20.0, "end_effector_path_m": 0.553, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.1999, "gripper_min": 0.139, "gripper_max": 1.0183, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf5"}, "filepath": "data/push_hongzhong_pos2/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991639171437434, "task": "push_hongzhong_pos2", "episode_index": 6, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 869, "duration": 43.449999999999996, "fps": 20.0, "end_effector_path_m": 0.6456, "end_effector_z_min_m": 0.088, "end_effector_z_max_m": 0.1986, "gripper_min": 0.132, "gripper_max": 1.0221, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf6"}, "filepath": "data/push_hongzhong_pos2/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999115902666209, "task": "push_hongzhong_pos2", "episode_index": 7, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 880, "duration": 44.0, "fps": 20.0, "end_effector_path_m": 0.6346, "end_effector_z_min_m": 0.089, "end_effector_z_max_m": 0.2014, "gripper_min": 0.1226, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf7"}, "filepath": "data/push_hongzhong_pos2/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997018550063624, "task": "push_hongzhong_pos2", "episode_index": 8, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 910, "duration": 45.5, "fps": 20.0, "end_effector_path_m": 0.645, "end_effector_z_min_m": 0.0914, "end_effector_z_max_m": 0.2026, "gripper_min": 0.1086, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.348Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.348Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf8"}, "filepath": "data/push_hongzhong_pos2/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999699104087221, "task": "push_hongzhong_pos2", "episode_index": 9, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 852, "duration": 42.599999999999994, "fps": 20.0, "end_effector_path_m": 0.557, "end_effector_z_min_m": 0.0866, "end_effector_z_max_m": 0.1993, "gripper_min": 0.1342, "gripper_max": 1.0263, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cf9"}, "filepath": "data/push_hongzhong_pos2/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992464506123628, "task": "push_hongzhong_pos2", "episode_index": 10, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 923, "duration": 46.15, "fps": 20.0, "end_effector_path_m": 0.6451, "end_effector_z_min_m": 0.0915, "end_effector_z_max_m": 0.1955, "gripper_min": 0.1262, "gripper_max": 1.0269, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cfa"}, "filepath": "data/push_hongzhong_pos2/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995518627697949, "task": "push_hongzhong_pos2", "episode_index": 11, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 929, "duration": 46.449999999999996, "fps": 20.0, "end_effector_path_m": 0.7293, "end_effector_z_min_m": 0.0876, "end_effector_z_max_m": 0.1958, "gripper_min": 0.1427, "gripper_max": 1.0277, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cfb"}, "filepath": "data/push_hongzhong_pos2/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994774953324972, "task": "push_hongzhong_pos2", "episode_index": 12, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 792, "duration": 39.599999999999994, "fps": 20.0, "end_effector_path_m": 0.6055, "end_effector_z_min_m": 0.0905, "end_effector_z_max_m": 0.1952, "gripper_min": 0.1109, "gripper_max": 1.0116, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cfc"}, "filepath": "data/push_hongzhong_pos2/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997181787467466, "task": "push_hongzhong_pos2", "episode_index": 13, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 795, "duration": 39.75, "fps": 20.0, "end_effector_path_m": 0.6471, "end_effector_z_min_m": 0.0881, "end_effector_z_max_m": 0.2028, "gripper_min": 0.1311, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cfd"}, "filepath": "data/push_hongzhong_pos2/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999472680599181, "task": "push_hongzhong_pos2", "episode_index": 14, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 743, "duration": 37.15, "fps": 20.0, "end_effector_path_m": 0.5468, "end_effector_z_min_m": 0.0895, "end_effector_z_max_m": 0.1945, "gripper_min": 0.1248, "gripper_max": 1.0229, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cfe"}, "filepath": "data/push_hongzhong_pos2/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994832210793568, "task": "push_hongzhong_pos2", "episode_index": 15, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 847, "duration": 42.349999999999994, "fps": 20.0, "end_effector_path_m": 0.6609, "end_effector_z_min_m": 0.0896, "end_effector_z_max_m": 0.1733, "gripper_min": 0.1372, "gripper_max": 1.0252, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849cff"}, "filepath": "data/push_hongzhong_pos2/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993663060272043, "task": "push_hongzhong_pos2", "episode_index": 16, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 823, "duration": 41.15, "fps": 20.0, "end_effector_path_m": 0.6913, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.1981, "gripper_min": 0.1341, "gripper_max": 1.0181, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d00"}, "filepath": "data/push_hongzhong_pos2/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995589543279164, "task": "push_hongzhong_pos2", "episode_index": 17, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 801, "duration": 40.05, "fps": 20.0, "end_effector_path_m": 0.6233, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.1918, "gripper_min": 0.1373, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d01"}, "filepath": "data/push_hongzhong_pos2/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997680749872208, "task": "push_hongzhong_pos2", "episode_index": 18, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 819, "duration": 40.949999999999996, "fps": 20.0, "end_effector_path_m": 0.6351, "end_effector_z_min_m": 0.0859, "end_effector_z_max_m": 0.168, "gripper_min": 0.1443, "gripper_max": 1.0164, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d02"}, "filepath": "data/push_hongzhong_pos2/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997938730570742, "task": "push_hongzhong_pos2", "episode_index": 19, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 873, "duration": 43.65, "fps": 20.0, "end_effector_path_m": 0.7094, "end_effector_z_min_m": 0.0895, "end_effector_z_max_m": 0.1993, "gripper_min": 0.1379, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d03"}, "filepath": "data/push_hongzhong_pos2/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991290932439499, "task": "push_hongzhong_pos2", "episode_index": 20, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 817, "duration": 40.849999999999994, "fps": 20.0, "end_effector_path_m": 0.6098, "end_effector_z_min_m": 0.084, "end_effector_z_max_m": 0.1991, "gripper_min": 0.1466, "gripper_max": 1.0121, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d04"}, "filepath": "data/push_hongzhong_pos2/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998497786638352, "task": "push_hongzhong_pos2", "episode_index": 21, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 721, "duration": 36.05, "fps": 20.0, "end_effector_path_m": 0.5082, "end_effector_z_min_m": 0.0855, "end_effector_z_max_m": 0.2017, "gripper_min": 0.1374, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.349Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.349Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d05"}, "filepath": "data/push_hongzhong_pos2/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991321242054331, "task": "push_hongzhong_pos2", "episode_index": 22, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 904, "duration": 45.199999999999996, "fps": 20.0, "end_effector_path_m": 0.6614, "end_effector_z_min_m": 0.0882, "end_effector_z_max_m": 0.2015, "gripper_min": 0.1379, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d06"}, "filepath": "data/push_hongzhong_pos2/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996069915667072, "task": "push_hongzhong_pos2", "episode_index": 23, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 807, "duration": 40.349999999999994, "fps": 20.0, "end_effector_path_m": 0.6294, "end_effector_z_min_m": 0.0895, "end_effector_z_max_m": 0.2032, "gripper_min": 0.1266, "gripper_max": 1.0184, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d07"}, "filepath": "data/push_hongzhong_pos2/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990152728194114, "task": "push_hongzhong_pos2", "episode_index": 24, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 783, "duration": 39.15, "fps": 20.0, "end_effector_path_m": 0.6233, "end_effector_z_min_m": 0.0889, "end_effector_z_max_m": 0.2022, "gripper_min": 0.1274, "gripper_max": 1.0271, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d08"}, "filepath": "data/push_hongzhong_pos2/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996228966020171, "task": "push_hongzhong_pos2", "episode_index": 25, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 745, "duration": 37.25, "fps": 20.0, "end_effector_path_m": 0.5542, "end_effector_z_min_m": 0.0904, "end_effector_z_max_m": 0.2016, "gripper_min": 0.1263, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d09"}, "filepath": "data/push_hongzhong_pos2/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990511667474656, "task": "push_hongzhong_pos2", "episode_index": 26, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 878, "duration": 43.9, "fps": 20.0, "end_effector_path_m": 0.6658, "end_effector_z_min_m": 0.0875, "end_effector_z_max_m": 0.2003, "gripper_min": 0.1408, "gripper_max": 1.0135, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d0a"}, "filepath": "data/push_hongzhong_pos2/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990432112208341, "task": "push_hongzhong_pos2", "episode_index": 27, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 894, "duration": 44.699999999999996, "fps": 20.0, "end_effector_path_m": 0.6459, "end_effector_z_min_m": 0.0886, "end_effector_z_max_m": 0.2063, "gripper_min": 0.1316, "gripper_max": 1.0143, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d0b"}, "filepath": "data/push_hongzhong_pos2/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995261118829885, "task": "push_hongzhong_pos2", "episode_index": 28, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 865, "duration": 43.25, "fps": 20.0, "end_effector_path_m": 0.5588, "end_effector_z_min_m": 0.0899, "end_effector_z_max_m": 0.2023, "gripper_min": 0.1338, "gripper_max": 1.0272, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d0c"}, "filepath": "data/push_hongzhong_pos2/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995994712339734, "task": "push_hongzhong_pos2", "episode_index": 29, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 893, "duration": 44.65, "fps": 20.0, "end_effector_path_m": 0.5965, "end_effector_z_min_m": 0.0888, "end_effector_z_max_m": 0.2009, "gripper_min": 0.1346, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d0d"}, "filepath": "data/push_hongzhong_pos2/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999725771230643, "task": "push_hongzhong_pos2", "episode_index": 30, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 922, "duration": 46.099999999999994, "fps": 20.0, "end_effector_path_m": 0.6149, "end_effector_z_min_m": 0.0901, "end_effector_z_max_m": 0.2037, "gripper_min": 0.1333, "gripper_max": 1.0273, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d0e"}, "filepath": "data/push_hongzhong_pos2/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998767421191173, "task": "push_hongzhong_pos2", "episode_index": 31, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 876, "duration": 43.8, "fps": 20.0, "end_effector_path_m": 0.6224, "end_effector_z_min_m": 0.0854, "end_effector_z_max_m": 0.2007, "gripper_min": 0.1402, "gripper_max": 1.0274, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d0f"}, "filepath": "data/push_hongzhong_pos2/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996329558218642, "task": "push_hongzhong_pos2", "episode_index": 32, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 887, "duration": 44.349999999999994, "fps": 20.0, "end_effector_path_m": 0.5902, "end_effector_z_min_m": 0.0895, "end_effector_z_max_m": 0.2037, "gripper_min": 0.1317, "gripper_max": 1.0097, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.350Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.350Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d10"}, "filepath": "data/push_hongzhong_pos2/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999017046667921, "task": "push_hongzhong_pos2", "episode_index": 33, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 816, "duration": 40.8, "fps": 20.0, "end_effector_path_m": 0.5606, "end_effector_z_min_m": 0.0885, "end_effector_z_max_m": 0.2027, "gripper_min": 0.1285, "gripper_max": 1.0219, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d11"}, "filepath": "data/push_hongzhong_pos3/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998200949394838, "task": "push_hongzhong_pos3", "episode_index": 0, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 933, "duration": 46.65, "fps": 20.0, "end_effector_path_m": 0.6955, "end_effector_z_min_m": 0.0861, "end_effector_z_max_m": 0.2012, "gripper_min": 0.1265, "gripper_max": 1.0244, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d12"}, "filepath": "data/push_hongzhong_pos3/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995853789888599, "task": "push_hongzhong_pos3", "episode_index": 1, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 957, "duration": 47.849999999999994, "fps": 20.0, "end_effector_path_m": 0.7984, "end_effector_z_min_m": 0.0871, "end_effector_z_max_m": 0.1995, "gripper_min": 0.1307, "gripper_max": 1.0146, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d13"}, "filepath": "data/push_hongzhong_pos3/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990791695329472, "task": "push_hongzhong_pos3", "episode_index": 2, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1050, "duration": 52.5, "fps": 20.0, "end_effector_path_m": 0.7227, "end_effector_z_min_m": 0.0856, "end_effector_z_max_m": 0.2024, "gripper_min": 0.1284, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d14"}, "filepath": "data/push_hongzhong_pos3/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991584223664504, "task": "push_hongzhong_pos3", "episode_index": 3, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1026, "duration": 51.3, "fps": 20.0, "end_effector_path_m": 0.7966, "end_effector_z_min_m": 0.0875, "end_effector_z_max_m": 0.2001, "gripper_min": 0.1294, "gripper_max": 1.0171, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d15"}, "filepath": "data/push_hongzhong_pos3/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992910257670586, "task": "push_hongzhong_pos3", "episode_index": 4, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1063, "duration": 53.15, "fps": 20.0, "end_effector_path_m": 0.8933, "end_effector_z_min_m": 0.0885, "end_effector_z_max_m": 0.2019, "gripper_min": 0.1303, "gripper_max": 1.0131, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d16"}, "filepath": "data/push_hongzhong_pos3/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995589054680551, "task": "push_hongzhong_pos3", "episode_index": 5, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 874, "duration": 43.699999999999996, "fps": 20.0, "end_effector_path_m": 0.772, "end_effector_z_min_m": 0.0891, "end_effector_z_max_m": 0.1972, "gripper_min": 0.1179, "gripper_max": 1.013, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d17"}, "filepath": "data/push_hongzhong_pos3/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991421260155775, "task": "push_hongzhong_pos3", "episode_index": 6, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1048, "duration": 52.4, "fps": 20.0, "end_effector_path_m": 0.672, "end_effector_z_min_m": 0.0892, "end_effector_z_max_m": 0.2013, "gripper_min": 0.1231, "gripper_max": 1.0205, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d18"}, "filepath": "data/push_hongzhong_pos3/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990533965747163, "task": "push_hongzhong_pos3", "episode_index": 7, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 954, "duration": 47.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8297, "end_effector_z_min_m": 0.0848, "end_effector_z_max_m": 0.1979, "gripper_min": 0.1241, "gripper_max": 1.0244, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d19"}, "filepath": "data/push_hongzhong_pos3/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996796703049646, "task": "push_hongzhong_pos3", "episode_index": 8, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1036, "duration": 51.8, "fps": 20.0, "end_effector_path_m": 0.8349, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.202, "gripper_min": 0.1373, "gripper_max": 1.0125, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d1a"}, "filepath": "data/push_hongzhong_pos3/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992465018485219, "task": "push_hongzhong_pos3", "episode_index": 9, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 928, "duration": 46.4, "fps": 20.0, "end_effector_path_m": 0.8322, "end_effector_z_min_m": 0.085, "end_effector_z_max_m": 0.2016, "gripper_min": 0.1308, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.351Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.351Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d1b"}, "filepath": "data/push_hongzhong_pos3/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999743957127303, "task": "push_hongzhong_pos3", "episode_index": 10, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1005, "duration": 50.25, "fps": 20.0, "end_effector_path_m": 0.7945, "end_effector_z_min_m": 0.0878, "end_effector_z_max_m": 0.202, "gripper_min": 0.1307, "gripper_max": 1.0282, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d1c"}, "filepath": "data/push_hongzhong_pos3/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997271041560072, "task": "push_hongzhong_pos3", "episode_index": 11, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1142, "duration": 57.099999999999994, "fps": 20.0, "end_effector_path_m": 0.8674, "end_effector_z_min_m": 0.0889, "end_effector_z_max_m": 0.2014, "gripper_min": 0.1272, "gripper_max": 1.0181, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d1d"}, "filepath": "data/push_hongzhong_pos3/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99983026016204, "task": "push_hongzhong_pos3", "episode_index": 12, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1078, "duration": 53.9, "fps": 20.0, "end_effector_path_m": 0.9319, "end_effector_z_min_m": 0.0864, "end_effector_z_max_m": 0.2, "gripper_min": 0.1233, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d1e"}, "filepath": "data/push_hongzhong_pos3/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995437535439996, "task": "push_hongzhong_pos3", "episode_index": 13, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1005, "duration": 50.25, "fps": 20.0, "end_effector_path_m": 0.8199, "end_effector_z_min_m": 0.0898, "end_effector_z_max_m": 0.2015, "gripper_min": 0.1254, "gripper_max": 1.0147, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d1f"}, "filepath": "data/push_hongzhong_pos3/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999525046586746, "task": "push_hongzhong_pos3", "episode_index": 14, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1077, "duration": 53.849999999999994, "fps": 20.0, "end_effector_path_m": 0.8967, "end_effector_z_min_m": 0.0862, "end_effector_z_max_m": 0.2026, "gripper_min": 0.1371, "gripper_max": 1.0106, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d20"}, "filepath": "data/push_hongzhong_pos3/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996457626608566, "task": "push_hongzhong_pos3", "episode_index": 15, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1124, "duration": 56.199999999999996, "fps": 20.0, "end_effector_path_m": 0.8784, "end_effector_z_min_m": 0.0857, "end_effector_z_max_m": 0.2024, "gripper_min": 0.1269, "gripper_max": 1.0168, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d21"}, "filepath": "data/push_hongzhong_pos3/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997816582688897, "task": "push_hongzhong_pos3", "episode_index": 16, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1121, "duration": 56.05, "fps": 20.0, "end_effector_path_m": 0.8361, "end_effector_z_min_m": 0.0845, "end_effector_z_max_m": 0.1928, "gripper_min": 0.125, "gripper_max": 1.0141, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d22"}, "filepath": "data/push_hongzhong_pos3/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991766217912307, "task": "push_hongzhong_pos3", "episode_index": 17, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 954, "duration": 47.699999999999996, "fps": 20.0, "end_effector_path_m": 0.9236, "end_effector_z_min_m": 0.0877, "end_effector_z_max_m": 0.2004, "gripper_min": 0.1039, "gripper_max": 1.0221, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d23"}, "filepath": "data/push_hongzhong_pos3/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996027995745642, "task": "push_hongzhong_pos3", "episode_index": 18, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1034, "duration": 51.699999999999996, "fps": 20.0, "end_effector_path_m": 0.8381, "end_effector_z_min_m": 0.0882, "end_effector_z_max_m": 0.1987, "gripper_min": 0.0966, "gripper_max": 1.0113, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d24"}, "filepath": "data/push_hongzhong_pos3/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995015100207901, "task": "push_hongzhong_pos3", "episode_index": 19, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 777, "duration": 38.849999999999994, "fps": 20.0, "end_effector_path_m": 0.4764, "end_effector_z_min_m": 0.0871, "end_effector_z_max_m": 0.2017, "gripper_min": 0.016, "gripper_max": 1.0224, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d25"}, "filepath": "data/push_hongzhong_pos3/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991631970150766, "task": "push_hongzhong_pos3", "episode_index": 20, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1053, "duration": 52.65, "fps": 20.0, "end_effector_path_m": 0.8116, "end_effector_z_min_m": 0.0853, "end_effector_z_max_m": 0.1961, "gripper_min": 0.1303, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d26"}, "filepath": "data/push_hongzhong_pos3/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992273542966394, "task": "push_hongzhong_pos3", "episode_index": 21, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1117, "duration": 55.849999999999994, "fps": 20.0, "end_effector_path_m": 0.8047, "end_effector_z_min_m": 0.0857, "end_effector_z_max_m": 0.2069, "gripper_min": 0.1216, "gripper_max": 1.0175, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.352Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.352Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d27"}, "filepath": "data/push_hongzhong_pos3/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990170999344328, "task": "push_hongzhong_pos3", "episode_index": 22, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1007, "duration": 50.349999999999994, "fps": 20.0, "end_effector_path_m": 0.8413, "end_effector_z_min_m": 0.086, "end_effector_z_max_m": 0.1985, "gripper_min": 0.125, "gripper_max": 1.0121, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d28"}, "filepath": "data/push_hongzhong_pos3/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993221309812753, "task": "push_hongzhong_pos3", "episode_index": 23, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1118, "duration": 55.9, "fps": 20.0, "end_effector_path_m": 0.8798, "end_effector_z_min_m": 0.0896, "end_effector_z_max_m": 0.2015, "gripper_min": 0.104, "gripper_max": 1.026, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d29"}, "filepath": "data/push_hongzhong_pos3/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994242453379891, "task": "push_hongzhong_pos3", "episode_index": 24, "instruction": "Push the red dragon Mahjong tile to the target position.", "num_frames": 1147, "duration": 57.349999999999994, "fps": 20.0, "end_effector_path_m": 0.975, "end_effector_z_min_m": 0.0876, "end_effector_z_max_m": 0.2021, "gripper_min": 0.1109, "gripper_max": 1.0096, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d2a"}, "filepath": "data/stack_bowl/episode_000.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995278323561275, "task": "stack_bowl", "episode_index": 0, "instruction": "Stack the bowl.", "num_frames": 385, "duration": 19.25, "fps": 20.0, "end_effector_path_m": 0.6381, "end_effector_z_min_m": 0.1151, "end_effector_z_max_m": 0.2303, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d2b"}, "filepath": "data/stack_bowl/episode_001.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994714184985588, "task": "stack_bowl", "episode_index": 1, "instruction": "Stack the bowl.", "num_frames": 454, "duration": 22.7, "fps": 20.0, "end_effector_path_m": 0.7282, "end_effector_z_min_m": 0.1223, "end_effector_z_max_m": 0.2468, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d2c"}, "filepath": "data/stack_bowl/episode_002.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993997641896154, "task": "stack_bowl", "episode_index": 2, "instruction": "Stack the bowl.", "num_frames": 500, "duration": 25.0, "fps": 20.0, "end_effector_path_m": 0.8382, "end_effector_z_min_m": 0.1119, "end_effector_z_max_m": 0.2497, "gripper_min": 0.0156, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d2d"}, "filepath": "data/stack_bowl/episode_003.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993358992093249, "task": "stack_bowl", "episode_index": 3, "instruction": "Stack the bowl.", "num_frames": 427, "duration": 21.35, "fps": 20.0, "end_effector_path_m": 0.739, "end_effector_z_min_m": 0.1031, "end_effector_z_max_m": 0.209, "gripper_min": 0.0229, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d2e"}, "filepath": "data/stack_bowl/episode_004.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994095138778336, "task": "stack_bowl", "episode_index": 4, "instruction": "Stack the bowl.", "num_frames": 469, "duration": 23.45, "fps": 20.0, "end_effector_path_m": 0.7538, "end_effector_z_min_m": 0.1158, "end_effector_z_max_m": 0.2227, "gripper_min": 0.0154, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d2f"}, "filepath": "data/stack_bowl/episode_005.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999804677564752, "task": "stack_bowl", "episode_index": 5, "instruction": "Stack the bowl.", "num_frames": 469, "duration": 23.45, "fps": 20.0, "end_effector_path_m": 0.7677, "end_effector_z_min_m": 0.1261, "end_effector_z_max_m": 0.2333, "gripper_min": 0.015, "gripper_max": 1.0272, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d30"}, "filepath": "data/stack_bowl/episode_006.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999488129342043, "task": "stack_bowl", "episode_index": 6, "instruction": "Stack the bowl.", "num_frames": 434, "duration": 21.7, "fps": 20.0, "end_effector_path_m": 0.7194, "end_effector_z_min_m": 0.1206, "end_effector_z_max_m": 0.2206, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d31"}, "filepath": "data/stack_bowl/episode_007.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994373396969012, "task": "stack_bowl", "episode_index": 7, "instruction": "Stack the bowl.", "num_frames": 509, "duration": 25.45, "fps": 20.0, "end_effector_path_m": 0.8833, "end_effector_z_min_m": 0.1054, "end_effector_z_max_m": 0.2138, "gripper_min": 0.023, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d32"}, "filepath": "data/stack_bowl/episode_008.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994328011272022, "task": "stack_bowl", "episode_index": 8, "instruction": "Stack the bowl.", "num_frames": 454, "duration": 22.7, "fps": 20.0, "end_effector_path_m": 0.7551, "end_effector_z_min_m": 0.1164, "end_effector_z_max_m": 0.2309, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.353Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.353Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d33"}, "filepath": "data/stack_bowl/episode_009.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995815317904397, "task": "stack_bowl", "episode_index": 9, "instruction": "Stack the bowl.", "num_frames": 430, "duration": 21.5, "fps": 20.0, "end_effector_path_m": 0.6223, "end_effector_z_min_m": 0.1252, "end_effector_z_max_m": 0.2496, "gripper_min": 0.0148, "gripper_max": 1.0112, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d34"}, "filepath": "data/stack_bowl/episode_010.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993614160643188, "task": "stack_bowl", "episode_index": 10, "instruction": "Stack the bowl.", "num_frames": 468, "duration": 23.400000000000002, "fps": 20.0, "end_effector_path_m": 0.7934, "end_effector_z_min_m": 0.1284, "end_effector_z_max_m": 0.2407, "gripper_min": 0.015, "gripper_max": 1.0163, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d35"}, "filepath": "data/stack_bowl/episode_011.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993517242428418, "task": "stack_bowl", "episode_index": 11, "instruction": "Stack the bowl.", "num_frames": 392, "duration": 19.6, "fps": 20.0, "end_effector_path_m": 0.6573, "end_effector_z_min_m": 0.1196, "end_effector_z_max_m": 0.2116, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d36"}, "filepath": "data/stack_bowl/episode_012.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999122942156944, "task": "stack_bowl", "episode_index": 12, "instruction": "Stack the bowl.", "num_frames": 454, "duration": 22.7, "fps": 20.0, "end_effector_path_m": 0.7601, "end_effector_z_min_m": 0.1184, "end_effector_z_max_m": 0.24, "gripper_min": 0.0152, "gripper_max": 1.0104, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d37"}, "filepath": "data/stack_bowl/episode_013.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999573373278296, "task": "stack_bowl", "episode_index": 13, "instruction": "Stack the bowl.", "num_frames": 423, "duration": 21.150000000000002, "fps": 20.0, "end_effector_path_m": 0.7702, "end_effector_z_min_m": 0.1176, "end_effector_z_max_m": 0.2386, "gripper_min": 0.0153, "gripper_max": 1.0129, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d38"}, "filepath": "data/stack_bowl/episode_014.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993030863572198, "task": "stack_bowl", "episode_index": 14, "instruction": "Stack the bowl.", "num_frames": 494, "duration": 24.7, "fps": 20.0, "end_effector_path_m": 0.7987, "end_effector_z_min_m": 0.119, "end_effector_z_max_m": 0.2254, "gripper_min": 0.0152, "gripper_max": 1.0193, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d39"}, "filepath": "data/stack_bowl/episode_015.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999213040273663, "task": "stack_bowl", "episode_index": 15, "instruction": "Stack the bowl.", "num_frames": 434, "duration": 21.7, "fps": 20.0, "end_effector_path_m": 0.6976, "end_effector_z_min_m": 0.127, "end_effector_z_max_m": 0.2417, "gripper_min": 0.015, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d3a"}, "filepath": "data/stack_bowl/episode_016.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996832391922998, "task": "stack_bowl", "episode_index": 16, "instruction": "Stack the bowl.", "num_frames": 459, "duration": 22.95, "fps": 20.0, "end_effector_path_m": 0.6893, "end_effector_z_min_m": 0.1134, "end_effector_z_max_m": 0.221, "gripper_min": 0.0156, "gripper_max": 1.0112, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d3b"}, "filepath": "data/stack_bowl/episode_017.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998204404632665, "task": "stack_bowl", "episode_index": 17, "instruction": "Stack the bowl.", "num_frames": 418, "duration": 20.900000000000002, "fps": 20.0, "end_effector_path_m": 0.6855, "end_effector_z_min_m": 0.1163, "end_effector_z_max_m": 0.2257, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d3c"}, "filepath": "data/stack_bowl/episode_018.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995768232524335, "task": "stack_bowl", "episode_index": 18, "instruction": "Stack the bowl.", "num_frames": 413, "duration": 20.650000000000002, "fps": 20.0, "end_effector_path_m": 0.7198, "end_effector_z_min_m": 0.1265, "end_effector_z_max_m": 0.2395, "gripper_min": 0.015, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d3d"}, "filepath": "data/stack_bowl/episode_019.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992472458431775, "task": "stack_bowl", "episode_index": 19, "instruction": "Stack the bowl.", "num_frames": 421, "duration": 21.05, "fps": 20.0, "end_effector_path_m": 0.6976, "end_effector_z_min_m": 0.1185, "end_effector_z_max_m": 0.2483, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d3e"}, "filepath": "data/stack_bowl/episode_020.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998551965680904, "task": "stack_bowl", "episode_index": 20, "instruction": "Stack the bowl.", "num_frames": 456, "duration": 22.8, "fps": 20.0, "end_effector_path_m": 0.6421, "end_effector_z_min_m": 0.1158, "end_effector_z_max_m": 0.2216, "gripper_min": 0.0154, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.354Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.354Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d3f"}, "filepath": "data/stack_bowl/episode_021.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999631716106241, "task": "stack_bowl", "episode_index": 21, "instruction": "Stack the bowl.", "num_frames": 417, "duration": 20.85, "fps": 20.0, "end_effector_path_m": 0.6252, "end_effector_z_min_m": 0.1212, "end_effector_z_max_m": 0.2285, "gripper_min": 0.0152, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d40"}, "filepath": "data/stack_bowl/episode_022.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991767879343345, "task": "stack_bowl", "episode_index": 22, "instruction": "Stack the bowl.", "num_frames": 441, "duration": 22.05, "fps": 20.0, "end_effector_path_m": 0.7299, "end_effector_z_min_m": 0.1182, "end_effector_z_max_m": 0.2596, "gripper_min": 0.0153, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d41"}, "filepath": "data/stack_bowl/episode_023.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992770208095102, "task": "stack_bowl", "episode_index": 23, "instruction": "Stack the bowl.", "num_frames": 392, "duration": 19.6, "fps": 20.0, "end_effector_path_m": 0.5544, "end_effector_z_min_m": 0.1183, "end_effector_z_max_m": 0.2256, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d42"}, "filepath": "data/stack_bowl/episode_024.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999062981120421, "task": "stack_bowl", "episode_index": 24, "instruction": "Stack the bowl.", "num_frames": 423, "duration": 21.150000000000002, "fps": 20.0, "end_effector_path_m": 0.6243, "end_effector_z_min_m": 0.1163, "end_effector_z_max_m": 0.2178, "gripper_min": 0.0153, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d43"}, "filepath": "data/stack_bowl/episode_025.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999252494536641, "task": "stack_bowl", "episode_index": 25, "instruction": "Stack the bowl.", "num_frames": 408, "duration": 20.400000000000002, "fps": 20.0, "end_effector_path_m": 0.6943, "end_effector_z_min_m": 0.1221, "end_effector_z_max_m": 0.2262, "gripper_min": 0.0151, "gripper_max": 1.0232, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d44"}, "filepath": "data/stack_bowl/episode_026.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991704915891997, "task": "stack_bowl", "episode_index": 26, "instruction": "Stack the bowl.", "num_frames": 421, "duration": 21.05, "fps": 20.0, "end_effector_path_m": 0.7047, "end_effector_z_min_m": 0.1194, "end_effector_z_max_m": 0.2234, "gripper_min": 0.0153, "gripper_max": 1.0149, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d45"}, "filepath": "data/stack_bowl/episode_027.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993691630237809, "task": "stack_bowl", "episode_index": 27, "instruction": "Stack the bowl.", "num_frames": 404, "duration": 20.2, "fps": 20.0, "end_effector_path_m": 0.6198, "end_effector_z_min_m": 0.1275, "end_effector_z_max_m": 0.2306, "gripper_min": 0.015, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d46"}, "filepath": "data/stack_bowl/episode_028.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999365403691968, "task": "stack_bowl", "episode_index": 28, "instruction": "Stack the bowl.", "num_frames": 384, "duration": 19.2, "fps": 20.0, "end_effector_path_m": 0.7144, "end_effector_z_min_m": 0.1198, "end_effector_z_max_m": 0.2388, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d47"}, "filepath": "data/stack_bowl/episode_029.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994304853873173, "task": "stack_bowl", "episode_index": 29, "instruction": "Stack the bowl.", "num_frames": 408, "duration": 20.400000000000002, "fps": 20.0, "end_effector_path_m": 0.6089, "end_effector_z_min_m": 0.1228, "end_effector_z_max_m": 0.2216, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d48"}, "filepath": "data/stack_bowl/episode_030.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994928542394151, "task": "stack_bowl", "episode_index": 30, "instruction": "Stack the bowl.", "num_frames": 411, "duration": 20.55, "fps": 20.0, "end_effector_path_m": 0.631, "end_effector_z_min_m": 0.1186, "end_effector_z_max_m": 0.2389, "gripper_min": 0.0153, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d49"}, "filepath": "data/stack_bowl/episode_031.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999620251303007, "task": "stack_bowl", "episode_index": 31, "instruction": "Stack the bowl.", "num_frames": 489, "duration": 24.45, "fps": 20.0, "end_effector_path_m": 0.7818, "end_effector_z_min_m": 0.1232, "end_effector_z_max_m": 0.2525, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d4a"}, "filepath": "data/stack_bowl/episode_032.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994914887112133, "task": "stack_bowl", "episode_index": 32, "instruction": "Stack the bowl.", "num_frames": 420, "duration": 21.0, "fps": 20.0, "end_effector_path_m": 0.7512, "end_effector_z_min_m": 0.1164, "end_effector_z_max_m": 0.2207, "gripper_min": 0.0153, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d4b"}, "filepath": "data/stack_bowl/episode_033.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995370130503591, "task": "stack_bowl", "episode_index": 33, "instruction": "Stack the bowl.", "num_frames": 408, "duration": 20.400000000000002, "fps": 20.0, "end_effector_path_m": 0.6088, "end_effector_z_min_m": 0.1251, "end_effector_z_max_m": 0.225, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.355Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.355Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d4c"}, "filepath": "data/stack_bowl/episode_034.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997260873150337, "task": "stack_bowl", "episode_index": 34, "instruction": "Stack the bowl.", "num_frames": 461, "duration": 23.05, "fps": 20.0, "end_effector_path_m": 0.705, "end_effector_z_min_m": 0.1159, "end_effector_z_max_m": 0.2138, "gripper_min": 0.0154, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d4d"}, "filepath": "data/stack_bowl/episode_035.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993151644843177, "task": "stack_bowl", "episode_index": 35, "instruction": "Stack the bowl.", "num_frames": 411, "duration": 20.55, "fps": 20.0, "end_effector_path_m": 0.7244, "end_effector_z_min_m": 0.1112, "end_effector_z_max_m": 0.2234, "gripper_min": 0.0165, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d4e"}, "filepath": "data/stack_bowl/episode_036.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994901239682186, "task": "stack_bowl", "episode_index": 36, "instruction": "Stack the bowl.", "num_frames": 410, "duration": 20.5, "fps": 20.0, "end_effector_path_m": 0.6241, "end_effector_z_min_m": 0.1197, "end_effector_z_max_m": 0.213, "gripper_min": 0.0153, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d4f"}, "filepath": "data/stack_bowl/episode_037.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995641588536133, "task": "stack_bowl", "episode_index": 37, "instruction": "Stack the bowl.", "num_frames": 379, "duration": 18.95, "fps": 20.0, "end_effector_path_m": 0.6784, "end_effector_z_min_m": 0.1128, "end_effector_z_max_m": 0.2274, "gripper_min": 0.0155, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d50"}, "filepath": "data/stack_bowl/episode_038.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990298769428451, "task": "stack_bowl", "episode_index": 38, "instruction": "Stack the bowl.", "num_frames": 405, "duration": 20.25, "fps": 20.0, "end_effector_path_m": 0.6964, "end_effector_z_min_m": 0.1149, "end_effector_z_max_m": 0.2202, "gripper_min": 0.0155, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d51"}, "filepath": "data/stack_bowl/episode_039.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999538277718498, "task": "stack_bowl", "episode_index": 39, "instruction": "Stack the bowl.", "num_frames": 469, "duration": 23.45, "fps": 20.0, "end_effector_path_m": 0.7076, "end_effector_z_min_m": 0.1127, "end_effector_z_max_m": 0.2352, "gripper_min": 0.0156, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d52"}, "filepath": "data/stack_bowl/episode_040.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998972506017028, "task": "stack_bowl", "episode_index": 40, "instruction": "Stack the bowl.", "num_frames": 421, "duration": 21.05, "fps": 20.0, "end_effector_path_m": 0.6568, "end_effector_z_min_m": 0.1087, "end_effector_z_max_m": 0.205, "gripper_min": 0.0207, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d53"}, "filepath": "data/stack_bowl/episode_041.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993820356654087, "task": "stack_bowl", "episode_index": 41, "instruction": "Stack the bowl.", "num_frames": 501, "duration": 25.05, "fps": 20.0, "end_effector_path_m": 0.811, "end_effector_z_min_m": 0.1168, "end_effector_z_max_m": 0.2425, "gripper_min": 0.0153, "gripper_max": 1.0149, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d54"}, "filepath": "data/stack_bowl/episode_042.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994741304322671, "task": "stack_bowl", "episode_index": 42, "instruction": "Stack the bowl.", "num_frames": 399, "duration": 19.95, "fps": 20.0, "end_effector_path_m": 0.6421, "end_effector_z_min_m": 0.1131, "end_effector_z_max_m": 0.205, "gripper_min": 0.0156, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d55"}, "filepath": "data/stack_bowl/episode_043.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999099619308933, "task": "stack_bowl", "episode_index": 43, "instruction": "Stack the bowl.", "num_frames": 388, "duration": 19.400000000000002, "fps": 20.0, "end_effector_path_m": 0.5908, "end_effector_z_min_m": 0.1129, "end_effector_z_max_m": 0.2104, "gripper_min": 0.0155, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d56"}, "filepath": "data/stack_bowl/episode_044.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995147140423201, "task": "stack_bowl", "episode_index": 44, "instruction": "Stack the bowl.", "num_frames": 396, "duration": 19.8, "fps": 20.0, "end_effector_path_m": 0.772, "end_effector_z_min_m": 0.1065, "end_effector_z_max_m": 0.2332, "gripper_min": 0.0156, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d57"}, "filepath": "data/stack_bowl/episode_045.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995153355217163, "task": "stack_bowl", "episode_index": 45, "instruction": "Stack the bowl.", "num_frames": 496, "duration": 24.8, "fps": 20.0, "end_effector_path_m": 0.8744, "end_effector_z_min_m": 0.1172, "end_effector_z_max_m": 0.2413, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.356Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.356Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d58"}, "filepath": "data/stack_bowl/episode_046.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998674711626724, "task": "stack_bowl", "episode_index": 46, "instruction": "Stack the bowl.", "num_frames": 455, "duration": 22.75, "fps": 20.0, "end_effector_path_m": 0.7915, "end_effector_z_min_m": 0.1062, "end_effector_z_max_m": 0.2204, "gripper_min": 0.023, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d59"}, "filepath": "data/stack_bowl/episode_047.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990408652733782, "task": "stack_bowl", "episode_index": 47, "instruction": "Stack the bowl.", "num_frames": 516, "duration": 25.8, "fps": 20.0, "end_effector_path_m": 0.7356, "end_effector_z_min_m": 0.1134, "end_effector_z_max_m": 0.2375, "gripper_min": 0.0157, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d5a"}, "filepath": "data/stack_bowl/episode_048.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999981454624127, "task": "stack_bowl", "episode_index": 48, "instruction": "Stack the bowl.", "num_frames": 458, "duration": 22.900000000000002, "fps": 20.0, "end_effector_path_m": 0.7968, "end_effector_z_min_m": 0.1154, "end_effector_z_max_m": 0.2293, "gripper_min": 0.0154, "gripper_max": 1.0235, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d5b"}, "filepath": "data/stack_bowl/episode_049.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998472899048633, "task": "stack_bowl", "episode_index": 49, "instruction": "Stack the bowl.", "num_frames": 473, "duration": 23.650000000000002, "fps": 20.0, "end_effector_path_m": 0.7259, "end_effector_z_min_m": 0.1237, "end_effector_z_max_m": 0.2225, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d5c"}, "filepath": "data/stack_bowl/episode_050.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99970759363124, "task": "stack_bowl", "episode_index": 50, "instruction": "Stack the bowl.", "num_frames": 550, "duration": 27.5, "fps": 20.0, "end_effector_path_m": 0.706, "end_effector_z_min_m": 0.1214, "end_effector_z_max_m": 0.2257, "gripper_min": 0.0151, "gripper_max": 1.013, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d5d"}, "filepath": "data/stack_bowl/episode_051.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991707143960998, "task": "stack_bowl", "episode_index": 51, "instruction": "Stack the bowl.", "num_frames": 515, "duration": 25.75, "fps": 20.0, "end_effector_path_m": 0.6551, "end_effector_z_min_m": 0.1265, "end_effector_z_max_m": 0.2232, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d5e"}, "filepath": "data/stack_bowl/episode_052.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993901410249032, "task": "stack_bowl", "episode_index": 52, "instruction": "Stack the bowl.", "num_frames": 432, "duration": 21.6, "fps": 20.0, "end_effector_path_m": 0.4883, "end_effector_z_min_m": 0.1172, "end_effector_z_max_m": 0.2108, "gripper_min": 0.0154, "gripper_max": 1.0151, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d5f"}, "filepath": "data/stack_bowl/episode_053.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999472880227335, "task": "stack_bowl", "episode_index": 53, "instruction": "Stack the bowl.", "num_frames": 529, "duration": 26.45, "fps": 20.0, "end_effector_path_m": 0.713, "end_effector_z_min_m": 0.1176, "end_effector_z_max_m": 0.2213, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d60"}, "filepath": "data/stack_bowl/episode_054.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999738748485929, "task": "stack_bowl", "episode_index": 54, "instruction": "Stack the bowl.", "num_frames": 613, "duration": 30.650000000000002, "fps": 20.0, "end_effector_path_m": 0.7105, "end_effector_z_min_m": 0.1169, "end_effector_z_max_m": 0.2162, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d61"}, "filepath": "data/stack_bowl/episode_055.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998881267459798, "task": "stack_bowl", "episode_index": 55, "instruction": "Stack the bowl.", "num_frames": 602, "duration": 30.1, "fps": 20.0, "end_effector_path_m": 0.7968, "end_effector_z_min_m": 0.1207, "end_effector_z_max_m": 0.2223, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d62"}, "filepath": "data/stack_bowl/episode_056.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999725822602105, "task": "stack_bowl", "episode_index": 56, "instruction": "Stack the bowl.", "num_frames": 450, "duration": 22.5, "fps": 20.0, "end_effector_path_m": 0.5495, "end_effector_z_min_m": 0.1255, "end_effector_z_max_m": 0.2212, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d63"}, "filepath": "data/stack_bowl/episode_057.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993739242078798, "task": "stack_bowl", "episode_index": 57, "instruction": "Stack the bowl.", "num_frames": 576, "duration": 28.8, "fps": 20.0, "end_effector_path_m": 0.7201, "end_effector_z_min_m": 0.1226, "end_effector_z_max_m": 0.2333, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.357Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.357Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d64"}, "filepath": "data/stack_bowl/episode_058.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999275222294016, "task": "stack_bowl", "episode_index": 58, "instruction": "Stack the bowl.", "num_frames": 608, "duration": 30.400000000000002, "fps": 20.0, "end_effector_path_m": 0.7333, "end_effector_z_min_m": 0.1194, "end_effector_z_max_m": 0.2299, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d65"}, "filepath": "data/stack_bowl/episode_059.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999689660233475, "task": "stack_bowl", "episode_index": 59, "instruction": "Stack the bowl.", "num_frames": 587, "duration": 29.35, "fps": 20.0, "end_effector_path_m": 0.7553, "end_effector_z_min_m": 0.1204, "end_effector_z_max_m": 0.2255, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d66"}, "filepath": "data/stack_bowl/episode_060.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991804610012022, "task": "stack_bowl", "episode_index": 60, "instruction": "Stack the bowl.", "num_frames": 517, "duration": 25.85, "fps": 20.0, "end_effector_path_m": 0.6992, "end_effector_z_min_m": 0.1244, "end_effector_z_max_m": 0.2283, "gripper_min": 0.0151, "gripper_max": 1.0162, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d67"}, "filepath": "data/stack_bowl/episode_061.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996512390867787, "task": "stack_bowl", "episode_index": 61, "instruction": "Stack the bowl.", "num_frames": 494, "duration": 24.7, "fps": 20.0, "end_effector_path_m": 0.6559, "end_effector_z_min_m": 0.1238, "end_effector_z_max_m": 0.2494, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d68"}, "filepath": "data/stack_bowl/episode_062.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991503787119557, "task": "stack_bowl", "episode_index": 62, "instruction": "Stack the bowl.", "num_frames": 551, "duration": 27.55, "fps": 20.0, "end_effector_path_m": 0.6785, "end_effector_z_min_m": 0.1258, "end_effector_z_max_m": 0.233, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d69"}, "filepath": "data/stack_bowl/episode_063.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997265196520347, "task": "stack_bowl", "episode_index": 63, "instruction": "Stack the bowl.", "num_frames": 504, "duration": 25.2, "fps": 20.0, "end_effector_path_m": 0.5868, "end_effector_z_min_m": 0.1234, "end_effector_z_max_m": 0.2242, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d6a"}, "filepath": "data/stack_bowl/episode_064.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99959197273503, "task": "stack_bowl", "episode_index": 64, "instruction": "Stack the bowl.", "num_frames": 525, "duration": 26.25, "fps": 20.0, "end_effector_path_m": 0.6543, "end_effector_z_min_m": 0.1239, "end_effector_z_max_m": 0.2115, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d6b"}, "filepath": "data/stack_bowl/episode_065.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996685401666899, "task": "stack_bowl", "episode_index": 65, "instruction": "Stack the bowl.", "num_frames": 556, "duration": 27.8, "fps": 20.0, "end_effector_path_m": 0.7776, "end_effector_z_min_m": 0.1197, "end_effector_z_max_m": 0.2337, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d6c"}, "filepath": "data/stack_bowl/episode_066.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996197875377372, "task": "stack_bowl", "episode_index": 66, "instruction": "Stack the bowl.", "num_frames": 505, "duration": 25.25, "fps": 20.0, "end_effector_path_m": 0.7217, "end_effector_z_min_m": 0.122, "end_effector_z_max_m": 0.2195, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d6d"}, "filepath": "data/stack_bowl/episode_067.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992823578890818, "task": "stack_bowl", "episode_index": 67, "instruction": "Stack the bowl.", "num_frames": 455, "duration": 22.75, "fps": 20.0, "end_effector_path_m": 0.6997, "end_effector_z_min_m": 0.1243, "end_effector_z_max_m": 0.2238, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d6e"}, "filepath": "data/stack_bowl/episode_068.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991732003057817, "task": "stack_bowl", "episode_index": 68, "instruction": "Stack the bowl.", "num_frames": 462, "duration": 23.1, "fps": 20.0, "end_effector_path_m": 0.59, "end_effector_z_min_m": 0.1262, "end_effector_z_max_m": 0.218, "gripper_min": 0.0151, "gripper_max": 1.0113, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d6f"}, "filepath": "data/stack_bowl/episode_069.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997808346868275, "task": "stack_bowl", "episode_index": 69, "instruction": "Stack the bowl.", "num_frames": 428, "duration": 21.400000000000002, "fps": 20.0, "end_effector_path_m": 0.6462, "end_effector_z_min_m": 0.1201, "end_effector_z_max_m": 0.2245, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d70"}, "filepath": "data/stack_bowl/episode_070.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992030746290179, "task": "stack_bowl", "episode_index": 70, "instruction": "Stack the bowl.", "num_frames": 475, "duration": 23.75, "fps": 20.0, "end_effector_path_m": 0.7337, "end_effector_z_min_m": 0.1102, "end_effector_z_max_m": 0.2104, "gripper_min": 0.0155, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.358Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.358Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d71"}, "filepath": "data/stack_bowl/episode_071.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990680595098665, "task": "stack_bowl", "episode_index": 71, "instruction": "Stack the bowl.", "num_frames": 509, "duration": 25.45, "fps": 20.0, "end_effector_path_m": 0.7412, "end_effector_z_min_m": 0.1159, "end_effector_z_max_m": 0.2146, "gripper_min": 0.0153, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d72"}, "filepath": "data/stack_bowl/episode_072.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995202853105081, "task": "stack_bowl", "episode_index": 72, "instruction": "Stack the bowl.", "num_frames": 558, "duration": 27.900000000000002, "fps": 20.0, "end_effector_path_m": 0.616, "end_effector_z_min_m": 0.131, "end_effector_z_max_m": 0.2367, "gripper_min": 0.015, "gripper_max": 1.0102, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d73"}, "filepath": "data/stack_bowl/episode_073.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994668256482977, "task": "stack_bowl", "episode_index": 73, "instruction": "Stack the bowl.", "num_frames": 436, "duration": 21.8, "fps": 20.0, "end_effector_path_m": 0.6107, "end_effector_z_min_m": 0.1229, "end_effector_z_max_m": 0.2247, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d74"}, "filepath": "data/stack_bowl/episode_074.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997941121217658, "task": "stack_bowl", "episode_index": 74, "instruction": "Stack the bowl.", "num_frames": 447, "duration": 22.35, "fps": 20.0, "end_effector_path_m": 0.6132, "end_effector_z_min_m": 0.1137, "end_effector_z_max_m": 0.2014, "gripper_min": 0.0157, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d75"}, "filepath": "data/stack_bowl/episode_075.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992108485839865, "task": "stack_bowl", "episode_index": 75, "instruction": "Stack the bowl.", "num_frames": 537, "duration": 26.85, "fps": 20.0, "end_effector_path_m": 0.7702, "end_effector_z_min_m": 0.1147, "end_effector_z_max_m": 0.2217, "gripper_min": 0.0156, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d76"}, "filepath": "data/stack_bowl/episode_076.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999623462318838, "task": "stack_bowl", "episode_index": 76, "instruction": "Stack the bowl.", "num_frames": 517, "duration": 25.85, "fps": 20.0, "end_effector_path_m": 0.6745, "end_effector_z_min_m": 0.12, "end_effector_z_max_m": 0.2124, "gripper_min": 0.0152, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d77"}, "filepath": "data/stack_bowl/episode_077.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997558490968296, "task": "stack_bowl", "episode_index": 77, "instruction": "Stack the bowl.", "num_frames": 476, "duration": 23.8, "fps": 20.0, "end_effector_path_m": 0.7522, "end_effector_z_min_m": 0.1112, "end_effector_z_max_m": 0.2135, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d78"}, "filepath": "data/stack_bowl/episode_078.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999452424176055, "task": "stack_bowl", "episode_index": 78, "instruction": "Stack the bowl.", "num_frames": 520, "duration": 26.0, "fps": 20.0, "end_effector_path_m": 0.8376, "end_effector_z_min_m": 0.1169, "end_effector_z_max_m": 0.2103, "gripper_min": 0.012, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d79"}, "filepath": "data/stack_bowl/episode_079.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997088391873761, "task": "stack_bowl", "episode_index": 79, "instruction": "Stack the bowl.", "num_frames": 498, "duration": 24.900000000000002, "fps": 20.0, "end_effector_path_m": 0.7176, "end_effector_z_min_m": 0.1193, "end_effector_z_max_m": 0.2086, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d7a"}, "filepath": "data/stack_bowl/episode_080.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999884878282161, "task": "stack_bowl", "episode_index": 80, "instruction": "Stack the bowl.", "num_frames": 481, "duration": 24.05, "fps": 20.0, "end_effector_path_m": 0.7415, "end_effector_z_min_m": 0.117, "end_effector_z_max_m": 0.2084, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d7b"}, "filepath": "data/stack_bowl/episode_081.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994367348248092, "task": "stack_bowl", "episode_index": 81, "instruction": "Stack the bowl.", "num_frames": 514, "duration": 25.7, "fps": 20.0, "end_effector_path_m": 0.7519, "end_effector_z_min_m": 0.1206, "end_effector_z_max_m": 0.2198, "gripper_min": 0.0127, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d7c"}, "filepath": "data/stack_bowl/episode_082.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995710219355266, "task": "stack_bowl", "episode_index": 82, "instruction": "Stack the bowl.", "num_frames": 572, "duration": 28.6, "fps": 20.0, "end_effector_path_m": 0.8518, "end_effector_z_min_m": 0.1152, "end_effector_z_max_m": 0.2088, "gripper_min": 0.0121, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.359Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.359Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d7d"}, "filepath": "data/stack_bowl/episode_083.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998092108707832, "task": "stack_bowl", "episode_index": 83, "instruction": "Stack the bowl.", "num_frames": 507, "duration": 25.35, "fps": 20.0, "end_effector_path_m": 0.6503, "end_effector_z_min_m": 0.1249, "end_effector_z_max_m": 0.2275, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d7e"}, "filepath": "data/stack_bowl/episode_084.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991297415786724, "task": "stack_bowl", "episode_index": 84, "instruction": "Stack the bowl.", "num_frames": 486, "duration": 24.3, "fps": 20.0, "end_effector_path_m": 0.7163, "end_effector_z_min_m": 0.1205, "end_effector_z_max_m": 0.2123, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d7f"}, "filepath": "data/stack_bowl/episode_085.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996223604157927, "task": "stack_bowl", "episode_index": 85, "instruction": "Stack the bowl.", "num_frames": 511, "duration": 25.55, "fps": 20.0, "end_effector_path_m": 0.8229, "end_effector_z_min_m": 0.1181, "end_effector_z_max_m": 0.211, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d80"}, "filepath": "data/stack_bowl/episode_086.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990153134888539, "task": "stack_bowl", "episode_index": 86, "instruction": "Stack the bowl.", "num_frames": 534, "duration": 26.7, "fps": 20.0, "end_effector_path_m": 0.6974, "end_effector_z_min_m": 0.1138, "end_effector_z_max_m": 0.2142, "gripper_min": 0.0157, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d81"}, "filepath": "data/stack_bowl/episode_087.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996470643658198, "task": "stack_bowl", "episode_index": 87, "instruction": "Stack the bowl.", "num_frames": 512, "duration": 25.6, "fps": 20.0, "end_effector_path_m": 0.7246, "end_effector_z_min_m": 0.1168, "end_effector_z_max_m": 0.216, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d82"}, "filepath": "data/stack_bowl/episode_088.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9999921721250967, "task": "stack_bowl", "episode_index": 88, "instruction": "Stack the bowl.", "num_frames": 529, "duration": 26.45, "fps": 20.0, "end_effector_path_m": 0.7962, "end_effector_z_min_m": 0.1151, "end_effector_z_max_m": 0.2077, "gripper_min": 0.0155, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d83"}, "filepath": "data/stack_bowl/episode_089.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997914322426177, "task": "stack_bowl", "episode_index": 89, "instruction": "Stack the bowl.", "num_frames": 561, "duration": 28.05, "fps": 20.0, "end_effector_path_m": 0.8568, "end_effector_z_min_m": 0.1142, "end_effector_z_max_m": 0.2278, "gripper_min": 0.0152, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d84"}, "filepath": "data/stack_bowl/episode_090.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995413346425257, "task": "stack_bowl", "episode_index": 90, "instruction": "Stack the bowl.", "num_frames": 552, "duration": 27.6, "fps": 20.0, "end_effector_path_m": 0.6783, "end_effector_z_min_m": 0.1253, "end_effector_z_max_m": 0.2282, "gripper_min": 0.0151, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d85"}, "filepath": "data/stack_bowl/episode_091.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995257210257206, "task": "stack_bowl", "episode_index": 91, "instruction": "Stack the bowl.", "num_frames": 522, "duration": 26.1, "fps": 20.0, "end_effector_path_m": 0.839, "end_effector_z_min_m": 0.1209, "end_effector_z_max_m": 0.2196, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d86"}, "filepath": "data/stack_bowl/episode_092.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998625674252282, "task": "stack_bowl", "episode_index": 92, "instruction": "Stack the bowl.", "num_frames": 495, "duration": 24.75, "fps": 20.0, "end_effector_path_m": 0.7492, "end_effector_z_min_m": 0.113, "end_effector_z_max_m": 0.2175, "gripper_min": 0.0152, "gripper_max": 1.0101, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d87"}, "filepath": "data/stack_bowl/episode_093.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990930716705566, "task": "stack_bowl", "episode_index": 93, "instruction": "Stack the bowl.", "num_frames": 387, "duration": 19.35, "fps": 20.0, "end_effector_path_m": 0.6093, "end_effector_z_min_m": 0.1179, "end_effector_z_max_m": 0.2091, "gripper_min": 0.0153, "gripper_max": 1.0125, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d88"}, "filepath": "data/stack_bowl/episode_094.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996173772607042, "task": "stack_bowl", "episode_index": 94, "instruction": "Stack the bowl.", "num_frames": 515, "duration": 25.75, "fps": 20.0, "end_effector_path_m": 0.6317, "end_effector_z_min_m": 0.1231, "end_effector_z_max_m": 0.2279, "gripper_min": 0.0152, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d89"}, "filepath": "data/stack_bowl/episode_095.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9991616105455595, "task": "stack_bowl", "episode_index": 95, "instruction": "Stack the bowl.", "num_frames": 445, "duration": 22.25, "fps": 20.0, "end_effector_path_m": 0.6866, "end_effector_z_min_m": 0.121, "end_effector_z_max_m": 0.2385, "gripper_min": 0.0152, "gripper_max": 1.0119, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.360Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.360Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d8a"}, "filepath": "data/stack_bowl/episode_096.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990870654333781, "task": "stack_bowl", "episode_index": 96, "instruction": "Stack the bowl.", "num_frames": 493, "duration": 24.650000000000002, "fps": 20.0, "end_effector_path_m": 0.5904, "end_effector_z_min_m": 0.123, "end_effector_z_max_m": 0.2212, "gripper_min": 0.015, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.361Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.361Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d8b"}, "filepath": "data/stack_bowl/episode_097.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994695193042724, "task": "stack_bowl", "episode_index": 97, "instruction": "Stack the bowl.", "num_frames": 557, "duration": 27.85, "fps": 20.0, "end_effector_path_m": 0.6534, "end_effector_z_min_m": 0.1269, "end_effector_z_max_m": 0.2185, "gripper_min": 0.015, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.361Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.361Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d8c"}, "filepath": "data/stack_bowl/episode_098.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993252905352394, "task": "stack_bowl", "episode_index": 98, "instruction": "Stack the bowl.", "num_frames": 562, "duration": 28.1, "fps": 20.0, "end_effector_path_m": 0.6819, "end_effector_z_min_m": 0.1197, "end_effector_z_max_m": 0.2115, "gripper_min": 0.0153, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.361Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.361Z"}},{"_id": {"$oid": "6a9c29a2001e301809849d8d"}, "filepath": "data/stack_bowl/episode_099.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996013308559982, "task": "stack_bowl", "episode_index": 99, "instruction": "Stack the bowl.", "num_frames": 545, "duration": 27.25, "fps": 20.0, "end_effector_path_m": 0.6393, "end_effector_z_min_m": 0.1258, "end_effector_z_max_m": 0.2303, "gripper_min": 0.0151, "gripper_max": 1.01, "tactile_sensor": "XensePhoton", "_dataset_id": {"$oid": "6a9c29a1001e301809849ace"}, "created_at": {"$date": "2026-09-05T14:39:30.361Z"}, "last_modified_at": {"$date": "2026-09-05T14:39:30.361Z"}}]}