diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000000.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f41dfc00a0c771f4b9a576667944d1353e4a3a64
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be1fcc26c6f9f367ab15d9d0f5ed6f3ab34c0051debc14a8a484b0f7ab76223
+size 39923758
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000001.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cc36cb33fe8c273d7d8180ca9f685010e747000a
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2430b46160580b5beb83b37d970506a0d116384460663cedfa2bc627e4578dc
+size 52449530
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000002.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..72e7f7bca0f39c77b749984e18f9a21a6db0213f
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b6900ae4eb769240c7fb6677ec6e9304836ffe3f88694c082d0a251a6257d7
+size 61989681
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000003.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a258375713c06e348a0af865826198df35f862ba
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe13d709449a5c18be9378cb65cdc242cf8b8ee7a639364dfcc31fe4c2c36a23
+size 62645870
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000004.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8e9e8fca94ea945b721402653e7cee0e5c9989c1
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03aa650cd5913e32041343db26e968d3f8f24cece1f4cc22db4ae3a63fda185d
+size 35959343
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000005.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ca123010b92754f522bdcb8c39cec6dbe11992e2
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f8bfb93b7805531097b819f1d4d2ab2b38ba4c882cedf38ab79b0bed38b26a
+size 49706979
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000006.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b275a53527b1c307655d34696c1e6aa69c0a4e42
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73dff294a2a9d84b3d99debf05d0f7f3fa3eff120f65156dbea6fc619788fa0
+size 33759525
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000007.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..86ee2613c12e7bd3b952cca7580d97aaab751594
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff9f1ccf6f032b584c24a579d43655be776ed2290ef288e0969678c307c5046
+size 42243528
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000008.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e9bcb67d50bb567a6e531a1358d453604afec61f
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c10f71669f03d24d9ff24ed50ee8269a2495fe18afa87a5c0dd665bf542acc
+size 39785317
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000009.parquet b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..16fbe661c797be29cc679fdacca0208a88436351
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e471c3137796db2382ced338e3a5b1a3f4a5593a3c647a07eb9415f554079b0
+size 66922788
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/episodes.jsonl b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e29c1735563e485a9fe79d280e17412bb468677
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/episodes.jsonl
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 129}
+{"episode_index": 1, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 169}
+{"episode_index": 2, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 200}
+{"episode_index": 3, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 202}
+{"episode_index": 4, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 116}
+{"episode_index": 5, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 160}
+{"episode_index": 6, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 109}
+{"episode_index": 7, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 136}
+{"episode_index": 8, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 128}
+{"episode_index": 9, "tasks": ["pick up power strip and pull out apple phone charger and insert into power strip"], "length": 216}
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/episodes_stats.jsonl b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1010210add5cd5e175925634479eadda77dcb2ac
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
+{"episode_index": 0, "stats": {"action.arm_joint_position": {"min": [0.002446246100589633, -0.11725208908319473, -0.12011254578828812, -2.593193531036377, -0.5125170946121216, 1.5326296091079712, -0.05388028547167778, 0.0], "max": [0.19012731313705444, 0.5585474371910095, 0.004364478401839733, -1.4754759073257446, 0.017129026353359222, 2.431375741958618, 0.6624486446380615, 0.634361207485199], "mean": [0.0738888829946518, 0.265883207321167, -0.016540849581360817, -1.967875599861145, -0.15014612674713135, 2.1615402698516846, 0.2554432451725006, 0.3695659637451172], "std": [0.045435696840286255, 0.24923650920391083, 0.02826196514070034, 0.3635109066963196, 0.17879869043827057, 0.2585436701774597, 0.21701015532016754, 0.3033803403377533], "count": [129]}, "action.hand_joint_position": {"min": [0.0], "max": [0.634361207485199], "mean": [0.3700098991394043], "std": [0.30337420105934143], "count": [129]}, "action.end_effector": {"min": [0.4175165891647339, -0.0078081549145281315, 0.22007757425308228, -0.9999249577522278, -0.11720698326826096, -0.04763984680175781, 0.0034540160559117794], "max": [0.6549068093299866, 0.08216207474470139, 0.6233900189399719, 0.9999129176139832, 0.018148791044950485, 0.030089838430285454, 0.17504486441612244], "mean": [0.5740720629692078, 0.02846875786781311, 0.3294840455055237, 0.8706896305084229, -0.04365513473749161, -0.018794456496834755, 0.05834835767745972], "std": [0.091364786028862, 0.020341837778687477, 0.12441208958625793, 0.4809788763523102, 0.03177473694086075, 0.019238587468862534, 0.0592925064265728], "count": [129]}, "observation.state.arm_joint_position": {"min": [0.002446246100589633, -0.11725208908319473, -0.12011254578828812, -2.593193531036377, -0.5125170946121216, 1.5326296091079712, -0.05388028547167778, 0.0], "max": [0.19012731313705444, 0.5585474371910095, 0.004364478401839733, -1.4754759073257446, 0.017129026353359222, 2.431375741958618, 0.6624486446380615, 0.634361207485199], "mean": [0.0738888829946518, 0.265883207321167, -0.016540849581360817, -1.967875599861145, -0.15014612674713135, 2.1615402698516846, 0.2554432451725006, 0.3695659637451172], "std": [0.045435696840286255, 0.24923650920391083, 0.02826196514070034, 0.3635109066963196, 0.17879869043827057, 0.2585436701774597, 0.21701015532016754, 0.3033803403377533], "count": [129]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.634361207485199], "mean": [0.3700098991394043], "std": [0.30337420105934143], "count": [129]}, "observation.state.end_effector": {"min": [0.4175165891647339, -0.0078081549145281315, 0.22007757425308228, -0.9999249577522278, -0.11720698326826096, -0.04763984680175781, 0.0034540160559117794], "max": [0.6549068093299866, 0.08216207474470139, 0.6233900189399719, 0.9999129176139832, 0.018148791044950485, 0.030089838430285454, 0.17504486441612244], "mean": [0.5740720629692078, 0.02846875786781311, 0.3294840455055237, 0.8706896305084229, -0.04365513473749161, -0.018794456496834755, 0.05834835767745972], "std": [0.091364786028862, 0.020341837778687477, 0.12441208958625793, 0.4809788763523102, 0.03177473694086075, 0.019238587468862534, 0.0592925064265728], "count": [129]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45411403186274507]], [[0.4790119301470588]], [[0.4647807250816993]]], "std": [[[0.20479656091517567]], [[0.20054570702146693]], [[0.2103830623158506]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4507569138071895]], [[0.4329381331699347]], [[0.40230960375816993]]], "std": [[[0.21949797704366147]], [[0.22322637588075114]], [[0.23616975034186619]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4752150449346405]], [[0.4840377328431372]], [[0.46938000204248365]]], "std": [[[0.1580614950022023]], [[0.17331198261331432]], [[0.18609582323243118]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4478190073529412]], [[0.4616870486111111]], [[0.4472352982026144]]], "std": [[[0.1543032580917605]], [[0.17032920490315717]], [[0.1803310444095043]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.7333333333333333]], [[0.7137254901960784]], [[0.7411764705882353]]], "mean": [[[0.49115628880718953]], [[0.5055743933823529]], [[0.4902143239379085]]], "std": [[[0.1178749914347211]], [[0.111811382386032]], [[0.11539623299251307]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45357169117647056]], [[0.47027929942810454]], [[0.45295402777777777]]], "std": [[[0.20611190888279282]], [[0.21274378819767711]], [[0.22597166471494082]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4824696629901961]], [[0.4824696629901961]], [[0.4824696629901961]]], "std": [[[0.3386690205058807]], [[0.3386690205058807]], [[0.3386690205058807]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4559422324346405]], [[0.4559422324346405]], [[0.4559422324346405]]], "std": [[[0.3535216807928698]], [[0.3535216807928698]], [[0.3535216807928698]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3237034375]], [[0.3237034375]], [[0.3237034375]]], "std": [[[0.3309714450982047]], [[0.3309714450982047]], [[0.3309714450982047]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30869440767973855]], [[0.30869440767973855]], [[0.30869440767973855]]], "std": [[[0.34753361108621844]], [[0.34753361108621844]], [[0.34753361108621844]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4682668239379085]], [[0.4682668239379085]], [[0.4682668239379085]]], "std": [[[0.2515885006096748]], [[0.2515885006096748]], [[0.2515885006096748]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.10517016135620916]], [[0.10517016135620916]], [[0.10517016135620916]]], "std": [[[0.20260031836339043]], [[0.20260031836339043]], [[0.20260031836339043]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.266666666666667], "mean": [2.1333333333333333], "std": [1.2412657816683503], "count": [129]}, "frame_index": {"min": [0], "max": [128], "mean": [64.0], "std": [37.23797345005051], "count": [129]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [129]}, "index": {"min": [0], "max": [128], "mean": [64.0], "std": [37.23797345005051], "count": [129]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [129]}}}
+{"episode_index": 1, "stats": {"action.arm_joint_position": {"min": [0.053198523819446564, -0.031164806336164474, -0.12362408638000488, -2.578613042831421, -0.5549544095993042, 1.5568145513534546, -0.07466825842857361, 0.0], "max": [0.2878362536430359, 0.5471066236495972, -0.06033486872911453, -1.6089919805526733, 0.019393999129533768, 2.383727550506592, 0.6835156679153442, 0.634361207485199], "mean": [0.14632730185985565, 0.2850327789783478, -0.07748870551586151, -1.985334038734436, -0.17528308928012848, 2.179840564727783, 0.3380274176597595, 0.4209524393081665], "std": [0.04965092986822128, 0.236082062125206, 0.00869813933968544, 0.32667869329452515, 0.19785837829113007, 0.2224334180355072, 0.21454159915447235, 0.2796764373779297], "count": [169]}, "action.hand_joint_position": {"min": [0.0], "max": [0.634361207485199], "mean": [0.4209524691104889], "std": [0.2796764373779297], "count": [169]}, "action.end_effector": {"min": [0.41710686683654785, -0.025566361844539642, 0.2295520156621933, -0.9995335340499878, -0.1175241693854332, -0.06039910390973091, 0.0003274656774010509], "max": [0.660541296005249, 0.0885106772184372, 0.6085068583488464, 0.9998347163200378, 0.02407718636095524, 0.016467738896608353, 0.21512942016124725], "mean": [0.5743907690048218, 0.034644901752471924, 0.313054621219635, 0.9558694362640381, -0.06943842023611069, -0.020664265379309654, 0.07999268174171448], "std": [0.08963251858949661, 0.021863142028450966, 0.11210811883211136, 0.2629769444465637, 0.028517737984657288, 0.016000982373952866, 0.06663493067026138], "count": [169]}, "observation.state.arm_joint_position": {"min": [0.053198523819446564, -0.031164806336164474, -0.12362408638000488, -2.578613042831421, -0.5549544095993042, 1.5568145513534546, -0.07466825842857361, 0.0], "max": [0.2878362536430359, 0.5471066236495972, -0.06033486872911453, -1.6089919805526733, 0.019393999129533768, 2.383727550506592, 0.6835156679153442, 0.634361207485199], "mean": [0.14632730185985565, 0.2850327789783478, -0.07748870551586151, -1.985334038734436, -0.17528308928012848, 2.179840564727783, 0.3380274176597595, 0.4209524393081665], "std": [0.04965092986822128, 0.236082062125206, 0.00869813933968544, 0.32667869329452515, 0.19785837829113007, 0.2224334180355072, 0.21454159915447235, 0.2796764373779297], "count": [169]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.634361207485199], "mean": [0.4209524691104889], "std": [0.2796764373779297], "count": [169]}, "observation.state.end_effector": {"min": [0.41710686683654785, -0.025566361844539642, 0.2295520156621933, -0.9995335340499878, -0.1175241693854332, -0.06039910390973091, 0.0003274656774010509], "max": [0.660541296005249, 0.0885106772184372, 0.6085068583488464, 0.9998347163200378, 0.02407718636095524, 0.016467738896608353, 0.21512942016124725], "mean": [0.5743907690048218, 0.034644901752471924, 0.313054621219635, 0.9558694362640381, -0.06943842023611069, -0.020664265379309654, 0.07999268174171448], "std": [0.08963251858949661, 0.021863142028450966, 0.11210811883211136, 0.2629769444465637, 0.028517737984657288, 0.016000982373952866, 0.06663493067026138], "count": [169]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45418588848039215]], [[0.4791090727124183]], [[0.4649079656862745]]], "std": [[[0.20540504202482196]], [[0.20099848982206175]], [[0.2106991840081335]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4543302982026144]], [[0.43456185661764707]], [[0.4027108435457516]]], "std": [[[0.2188010856829463]], [[0.22163032111352363]], [[0.2347732200838431]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47863313316993467]], [[0.4868540053104575]], [[0.4721664889705882]]], "std": [[[0.15794026083097837]], [[0.17277516215418345]], [[0.18573679430545598]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4544739011437908]], [[0.46774365604575163]], [[0.4531528819444445]]], "std": [[[0.15442982147430864]], [[0.16942519931961478]], [[0.17853066745393043]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.7137254901960784]], [[0.7137254901960784]], [[0.7411764705882353]]], "mean": [[[0.4918654861111111]], [[0.506305]], [[0.4908678349673202]]], "std": [[[0.11821875976295132]], [[0.11224169444289245]], [[0.11592021148327851]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4478425020424837]], [[0.4629059885620915]], [[0.444305498366013]]], "std": [[[0.2093284231524813]], [[0.21817423223740554]], [[0.23257767065698456]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4818741911764706]], [[0.4818741911764706]], [[0.4818741911764706]]], "std": [[[0.33904363386046743]], [[0.33904363386046743]], [[0.33904363386046743]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4556708088235294]], [[0.4556708088235294]], [[0.4556708088235294]]], "std": [[[0.35422670123444705]], [[0.35422670123444705]], [[0.35422670123444705]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3239122916666667]], [[0.3239122916666667]], [[0.3239122916666667]]], "std": [[[0.33118775423733243]], [[0.33118775423733243]], [[0.33118775423733243]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31025553717320264]], [[0.31025553717320264]], [[0.31025553717320264]]], "std": [[[0.348491667902628]], [[0.348491667902628]], [[0.348491667902628]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4682666891339869]], [[0.4682666891339869]], [[0.4682666891339869]]], "std": [[[0.2515882525041462]], [[0.2515882525041462]], [[0.2515882525041462]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.08693369485294118]], [[0.08693369485294118]], [[0.08693369485294118]]], "std": [[[0.18781549963815314]], [[0.18781549963815314]], [[0.18781549963815314]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [5.6], "mean": [2.8], "std": [1.6261747890200624], "count": [169]}, "frame_index": {"min": [0], "max": [168], "mean": [84.0], "std": [48.78524367060187], "count": [169]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [169]}, "index": {"min": [129], "max": [297], "mean": [213.0], "std": [48.78524367060187], "count": [169]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [169]}}}
+{"episode_index": 2, "stats": {"action.arm_joint_position": {"min": [-0.0965205654501915, -0.21783214807510376, 0.0032170445192605257, -2.6556992530822754, -0.4386935830116272, 1.5340324640274048, -0.06134534999728203, 0.004405308980494738], "max": [0.14196832478046417, 0.5741837620735168, 0.09378217160701752, -1.610792875289917, 0.08229309320449829, 2.4586291313171387, 0.4400891959667206, 0.6387665271759033], "mean": [-0.011351991444826126, 0.25797560811042786, 0.07793937623500824, -2.001307249069214, -0.10391134023666382, 2.1540722846984863, 0.2194659560918808, 0.41632115840911865], "std": [0.07975590974092484, 0.2943161427974701, 0.015603196807205677, 0.39726799726486206, 0.1985526829957962, 0.2409040629863739, 0.138446643948555, 0.27961549162864685], "count": [200]}, "action.hand_joint_position": {"min": [0.004405308980494738], "max": [0.6387665271759033], "mean": [0.4161894619464874], "std": [0.2796131670475006], "count": [200]}, "action.end_effector": {"min": [0.39454033970832825, -0.026230497285723686, 0.22811181843280792, -0.9999672174453735, -0.12126011401414871, -0.0908796414732933, -0.005712691228836775], "max": [0.6632614135742188, 0.10105782747268677, 0.6264753937721252, 0.9986206293106079, 0.13611260056495667, 0.07798890024423599, 0.16260337829589844], "mean": [0.5629367232322693, 0.026356490328907967, 0.3157694637775421, -0.2509896755218506, 0.058956727385520935, 0.01023315079510212, 0.06259647756814957], "std": [0.10797356069087982, 0.038098979741334915, 0.11495594680309296, 0.9602929353713989, 0.04808131232857704, 0.04615156352519989, 0.05386160686612129], "count": [200]}, "observation.state.arm_joint_position": {"min": [-0.0965205654501915, -0.21783214807510376, 0.0032170445192605257, -2.6556992530822754, -0.4386935830116272, 1.5340324640274048, -0.06134534999728203, 0.004405308980494738], "max": [0.14196832478046417, 0.5741837620735168, 0.09378217160701752, -1.610792875289917, 0.08229309320449829, 2.4586291313171387, 0.4400891959667206, 0.6387665271759033], "mean": [-0.011351991444826126, 0.25797560811042786, 0.07793937623500824, -2.001307249069214, -0.10391134023666382, 2.1540722846984863, 0.2194659560918808, 0.41632115840911865], "std": [0.07975590974092484, 0.2943161427974701, 0.015603196807205677, 0.39726799726486206, 0.1985526829957962, 0.2409040629863739, 0.138446643948555, 0.27961549162864685], "count": [200]}, "observation.state.hand_joint_position": {"min": [0.004405308980494738], "max": [0.6387665271759033], "mean": [0.4161894619464874], "std": [0.2796131670475006], "count": [200]}, "observation.state.end_effector": {"min": [0.39454033970832825, -0.026230497285723686, 0.22811181843280792, -0.9999672174453735, -0.12126011401414871, -0.0908796414732933, -0.005712691228836775], "max": [0.6632614135742188, 0.10105782747268677, 0.6264753937721252, 0.9986206293106079, 0.13611260056495667, 0.07798890024423599, 0.16260337829589844], "mean": [0.5629367232322693, 0.026356490328907967, 0.3157694637775421, -0.2509896755218506, 0.058956727385520935, 0.01023315079510212, 0.06259647756814957], "std": [0.10797356069087982, 0.038098979741334915, 0.11495594680309296, 0.9602929353713989, 0.04808131232857704, 0.04615156352519989, 0.05386160686612129], "count": [200]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45313141544117647]], [[0.47608958946078433]], [[0.4611367013888889]]], "std": [[[0.20772261789053656]], [[0.20264775148924744]], [[0.21197716520727944]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4612880249183007]], [[0.4428287459150327]], [[0.4122932883986928]]], "std": [[[0.22045075009161205]], [[0.22392740095556413]], [[0.23651182037933546]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47681234477124185]], [[0.4862181903594771]], [[0.471357091503268]]], "std": [[[0.15888863901997907]], [[0.17351545303143776]], [[0.18625655755790033]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4546591033496732]], [[0.46840719771241834]], [[0.4543762254901961]]], "std": [[[0.1537248180376791]], [[0.16889617888302078]], [[0.1784285924672208]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.6980392156862745]], [[0.7098039215686275]], [[0.7411764705882353]]], "mean": [[[0.4920762091503268]], [[0.5065268075980393]], [[0.4911293995098039]]], "std": [[[0.11821787847244176]], [[0.11222734459616644]], [[0.11590674946044154]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.450699074754902]], [[0.4652617279411765]], [[0.4460426409313725]]], "std": [[[0.20357781099547828]], [[0.2139726113827275]], [[0.22919830611645098]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48195246119281043]], [[0.48195246119281043]], [[0.48195246119281043]]], "std": [[[0.3393198595348832]], [[0.3393198595348832]], [[0.3393198595348832]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45519029207516337]], [[0.45519029207516337]], [[0.45519029207516337]]], "std": [[[0.35375584755728195]], [[0.35375584755728195]], [[0.35375584755728195]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32497196282679736]], [[0.32497196282679736]], [[0.32497196282679736]]], "std": [[[0.33176009832480885]], [[0.33176009832480885]], [[0.33176009832480885]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3084365870098039]], [[0.3084365870098039]], [[0.3084365870098039]]], "std": [[[0.34726181119222665]], [[0.34726181119222665]], [[0.34726181119222665]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4683414236111111]], [[0.4683414236111111]], [[0.4683414236111111]]], "std": [[[0.2515382330119017]], [[0.2515382330119017]], [[0.2515382330119017]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.09400686683006536]], [[0.09400686683006536]], [[0.09400686683006536]]], "std": [[[0.19300459566493353]], [[0.19300459566493353]], [[0.19300459566493353]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.633333333333334], "mean": [3.3166666666666664], "std": [1.9244768408871828], "count": [200]}, "frame_index": {"min": [0], "max": [199], "mean": [99.5], "std": [57.73430522661548], "count": [200]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [200]}, "index": {"min": [298], "max": [497], "mean": [397.5], "std": [57.73430522661548], "count": [200]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [200]}}}
+{"episode_index": 3, "stats": {"action.arm_joint_position": {"min": [0.012079793028533459, -0.044346436858177185, -0.06225557252764702, -2.420742988586426, -0.4539865255355835, 1.574296474456787, -0.015805482864379883, 0.004405308980494738], "max": [0.21735823154449463, 0.515449047088623, -0.015993881970643997, -1.594618320465088, 0.017210541293025017, 2.5005252361297607, 0.824091374874115, 0.634361207485199], "mean": [0.07663379609584808, 0.3340660333633423, -0.03992438688874245, -1.959595799446106, -0.09276725351810455, 2.214001417160034, 0.3512105941772461, 0.47121283411979675], "std": [0.044879768043756485, 0.19099411368370056, 0.01058769691735506, 0.24018864333629608, 0.1708432137966156, 0.21105484664440155, 0.21735204756259918, 0.2646019756793976], "count": [202]}, "action.hand_joint_position": {"min": [0.004405308980494738], "max": [0.634361207485199], "mean": [0.47143107652664185], "std": [0.26437002420425415], "count": [202]}, "action.end_effector": {"min": [0.45789363980293274, -0.020832609385252, 0.22637686133384705, -0.999672532081604, -0.20844046771526337, -0.08606383204460144, 0.0007794568664394319], "max": [0.6501916646957397, 0.07834359258413315, 0.6227933764457703, 0.999952495098114, 0.034956954419612885, 0.03273601830005646, 0.2034003883600235], "mean": [0.5897117853164673, 0.017861293628811836, 0.29870179295539856, 0.9076646566390991, -0.11931288242340088, -0.02256920374929905, 0.04908086359500885], "std": [0.0681782215833664, 0.01771705597639084, 0.10295677185058594, 0.3874672055244446, 0.05176087096333504, 0.02939791791141033, 0.07291613519191742], "count": [202]}, "observation.state.arm_joint_position": {"min": [0.012079793028533459, -0.044346436858177185, -0.06225557252764702, -2.420742988586426, -0.4539865255355835, 1.574296474456787, -0.015805482864379883, 0.004405308980494738], "max": [0.21735823154449463, 0.515449047088623, -0.015993881970643997, -1.594618320465088, 0.017210541293025017, 2.5005252361297607, 0.824091374874115, 0.634361207485199], "mean": [0.07663379609584808, 0.3340660333633423, -0.03992438688874245, -1.959595799446106, -0.09276725351810455, 2.214001417160034, 0.3512105941772461, 0.47121283411979675], "std": [0.044879768043756485, 0.19099411368370056, 0.01058769691735506, 0.24018864333629608, 0.1708432137966156, 0.21105484664440155, 0.21735204756259918, 0.2646019756793976], "count": [202]}, "observation.state.hand_joint_position": {"min": [0.004405308980494738], "max": [0.634361207485199], "mean": [0.47143107652664185], "std": [0.26437002420425415], "count": [202]}, "observation.state.end_effector": {"min": [0.45789363980293274, -0.020832609385252, 0.22637686133384705, -0.999672532081604, -0.20844046771526337, -0.08606383204460144, 0.0007794568664394319], "max": [0.6501916646957397, 0.07834359258413315, 0.6227933764457703, 0.999952495098114, 0.034956954419612885, 0.03273601830005646, 0.2034003883600235], "mean": [0.5897117853164673, 0.017861293628811836, 0.29870179295539856, 0.9076646566390991, -0.11931288242340088, -0.02256920374929905, 0.04908086359500885], "std": [0.0681782215833664, 0.01771705597639084, 0.10295677185058594, 0.3874672055244446, 0.05176087096333504, 0.02939791791141033, 0.07291613519191742], "count": [202]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45297001021241834]], [[0.47785742647058826]], [[0.4637109865196078]]], "std": [[[0.20513928711048893]], [[0.20004618726320544]], [[0.2094989174634177]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45398531862745095]], [[0.43396676266339873]], [[0.40200470588235293]]], "std": [[[0.21832281471300996]], [[0.22100950197296276]], [[0.234157265548718]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4785144505718954]], [[0.4860299652777778]], [[0.4710623692810457]]], "std": [[[0.15866369229857077]], [[0.17344630775732978]], [[0.18631585780751342]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45765549836601305]], [[0.46883602124183005]], [[0.45374441380718955]]], "std": [[[0.1547590534406336]], [[0.17031853221737972]], [[0.17998551423183393]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.7411764705882353]], [[0.7411764705882353]]], "mean": [[[0.49197724673202614]], [[0.5064526633986929]], [[0.4909943402777778]]], "std": [[[0.1182357692114255]], [[0.11225617299157578]], [[0.11592481434526856]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4463754044117647]], [[0.46255667892156865]], [[0.4438898243464052]]], "std": [[[0.21481340631927648]], [[0.22634517719341948]], [[0.24098571533549634]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4834070935457516]], [[0.4834070935457516]], [[0.4834070935457516]]], "std": [[[0.3382032724168567]], [[0.3382032724168567]], [[0.3382032724168567]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45672122344771243]], [[0.45672122344771243]], [[0.45672122344771243]]], "std": [[[0.35393186544117866]], [[0.35393186544117866]], [[0.35393186544117866]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3240087479575164]], [[0.3240087479575164]], [[0.3240087479575164]]], "std": [[[0.33203230434519293]], [[0.33203230434519293]], [[0.33203230434519293]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3104281025326798]], [[0.3104281025326798]], [[0.3104281025326798]]], "std": [[[0.3480100837249161]], [[0.3480100837249161]], [[0.3480100837249161]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46837418096405226]], [[0.46837418096405226]], [[0.46837418096405226]]], "std": [[[0.2515252745634382]], [[0.2515252745634382]], [[0.2515252745634382]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.07206779003267974]], [[0.07206779003267974]], [[0.07206779003267974]]], "std": [[[0.17442564173298672]], [[0.17442564173298672]], [[0.17442564173298672]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.7], "mean": [3.35], "std": [1.9437220880453965], "count": [202]}, "frame_index": {"min": [0], "max": [201], "mean": [100.5], "std": [58.31166264136189], "count": [202]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [202]}, "index": {"min": [498], "max": [699], "mean": [598.5], "std": [58.31166264136189], "count": [202]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [202]}}}
+{"episode_index": 4, "stats": {"action.arm_joint_position": {"min": [-0.035186927765607834, -0.06340683251619339, -0.010794702917337418, -2.480414390563965, -0.4785652756690979, 1.5582349300384521, -0.035004209727048874, 0.0], "max": [0.08888984471559525, 0.5388825535774231, 0.01355029921978712, -1.596614122390747, 0.022456882521510124, 2.3583500385284424, 0.5677721500396729, 0.6387665271759033], "mean": [0.031439412385225296, 0.2322789877653122, 0.0012925728224217892, -2.0079920291900635, -0.13583436608314514, 2.1344597339630127, 0.2514726519584656, 0.36586686968803406], "std": [0.0353429950773716, 0.21892841160297394, 0.006914849393069744, 0.31262484192848206, 0.20874039828777313, 0.2340255081653595, 0.20287273824214935, 0.29732394218444824], "count": [116]}, "action.hand_joint_position": {"min": [0.0], "max": [0.6387665271759033], "mean": [0.36582863330841064], "std": [0.29707083106040955], "count": [116]}, "action.end_effector": {"min": [0.44787484407424927, -0.024919113144278526, 0.22936609387397766, -0.9999757409095764, -0.11890383064746857, -0.08299155533313751, -0.002957473509013653], "max": [0.6636301279067993, 0.05532745271921158, 0.6260596513748169, 0.9976133704185486, 0.07184427976608276, 0.04770484194159508, 0.19884976744651794], "mean": [0.5624635219573975, 0.013525127433240414, 0.3319958746433258, -0.05743628367781639, -0.002563038608059287, -0.019338129088282585, 0.062147025018930435], "std": [0.07952569425106049, 0.018242402002215385, 0.12221991270780563, 0.9905102252960205, 0.062269359827041626, 0.0427597351372242, 0.0751127377152443], "count": [116]}, "observation.state.arm_joint_position": {"min": [-0.035186927765607834, -0.06340683251619339, -0.010794702917337418, -2.480414390563965, -0.4785652756690979, 1.5582349300384521, -0.035004209727048874, 0.0], "max": [0.08888984471559525, 0.5388825535774231, 0.01355029921978712, -1.596614122390747, 0.022456882521510124, 2.3583500385284424, 0.5677721500396729, 0.6387665271759033], "mean": [0.031439412385225296, 0.2322789877653122, 0.0012925728224217892, -2.0079920291900635, -0.13583436608314514, 2.1344597339630127, 0.2514726519584656, 0.36586686968803406], "std": [0.0353429950773716, 0.21892841160297394, 0.006914849393069744, 0.31262484192848206, 0.20874039828777313, 0.2340255081653595, 0.20287273824214935, 0.29732394218444824], "count": [116]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.6387665271759033], "mean": [0.36582863330841064], "std": [0.29707083106040955], "count": [116]}, "observation.state.end_effector": {"min": [0.44787484407424927, -0.024919113144278526, 0.22936609387397766, -0.9999757409095764, -0.11890383064746857, -0.08299155533313751, -0.002957473509013653], "max": [0.6636301279067993, 0.05532745271921158, 0.6260596513748169, 0.9976133704185486, 0.07184427976608276, 0.04770484194159508, 0.19884976744651794], "mean": [0.5624635219573975, 0.013525127433240414, 0.3319958746433258, -0.05743628367781639, -0.002563038608059287, -0.019338129088282585, 0.062147025018930435], "std": [0.07952569425106049, 0.018242402002215385, 0.12221991270780563, 0.9905102252960205, 0.062269359827041626, 0.0427597351372242, 0.0751127377152443], "count": [116]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45205638276143795]], [[0.4768232843137255]], [[0.46264025531045755]]], "std": [[[0.20519981087298012]], [[0.19993976484624862]], [[0.20931498864382642]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45121182802287585]], [[0.4353021078431373]], [[0.4036959089052288]]], "std": [[[0.21941635741361504]], [[0.2232522730867471]], [[0.23642112581846617]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47519330678104577]], [[0.4843453880718954]], [[0.47004509395424837]]], "std": [[[0.15881730750619769]], [[0.1740002421065896]], [[0.18666328331172527]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44823548611111114]], [[0.4621997140522876]], [[0.4481456045751634]]], "std": [[[0.15315503805958772]], [[0.16859550799324982]], [[0.17867618675609687]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.6980392156862745]], [[0.7137254901960784]], [[0.7333333333333333]]], "mean": [[[0.49118560253267973]], [[0.5056587683823529]], [[0.49025806168300656]]], "std": [[[0.11792636925236055]], [[0.11190713132450114]], [[0.11552242077304752]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45078400122549017]], [[0.46622454248366013]], [[0.44773573325163396]]], "std": [[[0.20420907188729984]], [[0.21212718797848754]], [[0.22629685051299936]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4835376654411765]], [[0.4835376654411765]], [[0.4835376654411765]]], "std": [[[0.3379053853303806]], [[0.3379053853303806]], [[0.3379053853303806]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4578857679738562]], [[0.4578857679738562]], [[0.4578857679738562]]], "std": [[[0.3532242550222512]], [[0.3532242550222512]], [[0.3532242550222512]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3238744199346405]], [[0.3238744199346405]], [[0.3238744199346405]]], "std": [[[0.3312349364411563]], [[0.3312349364411563]], [[0.3312349364411563]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3073300428921569]], [[0.3073300428921569]], [[0.3073300428921569]]], "std": [[[0.34695885440990953]], [[0.34695885440990953]], [[0.34695885440990953]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46833805964052283]], [[0.46833805964052283]], [[0.46833805964052283]]], "std": [[[0.2515523466309415]], [[0.2515523466309415]], [[0.2515523466309415]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.10360867238562092]], [[0.10360867238562092]], [[0.10360867238562092]]], "std": [[[0.20222903153040303]], [[0.20222903153040303]], [[0.20222903153040303]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [3.8333333333333335], "mean": [1.9166666666666667], "std": [1.116169043350215], "count": [116]}, "frame_index": {"min": [0], "max": [115], "mean": [57.5], "std": [33.48507130050644], "count": [116]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [116]}, "index": {"min": [700], "max": [815], "mean": [757.5], "std": [33.48507130050644], "count": [116]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [116]}}}
+{"episode_index": 5, "stats": {"action.arm_joint_position": {"min": [-0.03842904418706894, -0.06593357771635056, -0.043237410485744476, -2.5776238441467285, -0.5300512909889221, 1.5086097717285156, 0.0039847115986049175, 0.0], "max": [0.16169461607933044, 0.5427538752555847, 0.07407271862030029, -1.5675156116485596, 0.02529718540608883, 2.44291353225708, 0.7417284846305847, 0.6431717872619629], "mean": [0.01150017511099577, 0.2625495195388794, 0.04114941135048866, -1.9740431308746338, -0.1772194802761078, 2.1498889923095703, 0.31354427337646484, 0.39592552185058594], "std": [0.054842013865709305, 0.2512279748916626, 0.03224143758416176, 0.3358328640460968, 0.1770472228527069, 0.2658165991306305, 0.2489982545375824, 0.29738256335258484], "count": [160]}, "action.hand_joint_position": {"min": [0.0], "max": [0.6431717872619629], "mean": [0.39598017930984497], "std": [0.29746079444885254], "count": [160]}, "action.end_effector": {"min": [0.42499661445617676, -0.0208362378180027, 0.22758913040161133, -0.9995152354240417, -0.15927182137966156, -0.08606996387243271, -0.00017340891645289958], "max": [0.6606045365333557, 0.07783138751983643, 0.6298007369041443, 0.9994470477104187, 0.039260126650333405, 0.023872537538409233, 0.19802255928516388], "mean": [0.5716174244880676, 0.02318461798131466, 0.32777392864227295, 0.879641056060791, -0.06594483554363251, -0.021913539618253708, 0.06205463409423828], "std": [0.0864764004945755, 0.021376559510827065, 0.1259712278842926, 0.45882368087768555, 0.04855499044060707, 0.02060098946094513, 0.06519528478384018], "count": [160]}, "observation.state.arm_joint_position": {"min": [-0.03842904418706894, -0.06593357771635056, -0.043237410485744476, -2.5776238441467285, -0.5300512909889221, 1.5086097717285156, 0.0039847115986049175, 0.0], "max": [0.16169461607933044, 0.5427538752555847, 0.07407271862030029, -1.5675156116485596, 0.02529718540608883, 2.44291353225708, 0.7417284846305847, 0.6431717872619629], "mean": [0.01150017511099577, 0.2625495195388794, 0.04114941135048866, -1.9740431308746338, -0.1772194802761078, 2.1498889923095703, 0.31354427337646484, 0.39592552185058594], "std": [0.054842013865709305, 0.2512279748916626, 0.03224143758416176, 0.3358328640460968, 0.1770472228527069, 0.2658165991306305, 0.2489982545375824, 0.29738256335258484], "count": [160]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.6431717872619629], "mean": [0.39598017930984497], "std": [0.29746079444885254], "count": [160]}, "observation.state.end_effector": {"min": [0.42499661445617676, -0.0208362378180027, 0.22758913040161133, -0.9995152354240417, -0.15927182137966156, -0.08606996387243271, -0.00017340891645289958], "max": [0.6606045365333557, 0.07783138751983643, 0.6298007369041443, 0.9994470477104187, 0.039260126650333405, 0.023872537538409233, 0.19802255928516388], "mean": [0.5716174244880676, 0.02318461798131466, 0.32777392864227295, 0.879641056060791, -0.06594483554363251, -0.021913539618253708, 0.06205463409423828], "std": [0.0864764004945755, 0.021376559510827065, 0.1259712278842926, 0.45882368087768555, 0.04855499044060707, 0.02060098946094513, 0.06519528478384018], "count": [160]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45517043709150323]], [[0.4797467156862745]], [[0.465495516748366]]], "std": [[[0.2047069644558729]], [[0.20027604694061601]], [[0.21003417421600856]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4548809538398693]], [[0.4339555984477124]], [[0.40135323733660133]]], "std": [[[0.21837092646884454]], [[0.22080513644716185]], [[0.23386772230288455]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47771421568627453]], [[0.4868102410130719]], [[0.4725242871732026]]], "std": [[[0.15831159128858052]], [[0.17331686004999614]], [[0.18605359723843465]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4549563194444445]], [[0.4679605371732026]], [[0.45367545751633986]]], "std": [[[0.15423551444116157]], [[0.16923970646974687]], [[0.178516305915992]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.7176470588235294]], [[0.7450980392156863]]], "mean": [[[0.4920101633986928]], [[0.5064302512254901]], [[0.49103369281045756]]], "std": [[[0.11823285758173593]], [[0.1122813293578311]], [[0.11596912175804275]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4503121875]], [[0.4653776164215686]], [[0.44685480187908494]]], "std": [[[0.2075670724618793]], [[0.21587094918571775]], [[0.22992029495826366]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4818452267156863]], [[0.4818452267156863]], [[0.4818452267156863]]], "std": [[[0.33882278506790514]], [[0.33882278506790514]], [[0.33882278506790514]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4575960314542484]], [[0.4575960314542484]], [[0.4575960314542484]]], "std": [[[0.35311348628473005]], [[0.35311348628473005]], [[0.35311348628473005]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3243640236928105]], [[0.3243640236928105]], [[0.3243640236928105]]], "std": [[[0.3314784949479899]], [[0.3314784949479899]], [[0.3314784949479899]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3086901899509804]], [[0.3086901899509804]], [[0.3086901899509804]]], "std": [[[0.3476415049490195]], [[0.3476415049490195]], [[0.3476415049490195]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46832996323529413]], [[0.46832996323529413]], [[0.46832996323529413]]], "std": [[[0.25155680364565003]], [[0.25155680364565003]], [[0.25155680364565003]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.10218128676470588]], [[0.10218128676470588]], [[0.10218128676470588]]], "std": [[[0.20384171524680705]], [[0.20384171524680705]], [[0.20384171524680705]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [5.3], "mean": [2.6499999999999995], "std": [1.5395706472188204], "count": [160]}, "frame_index": {"min": [0], "max": [159], "mean": [79.5], "std": [46.18711941656461], "count": [160]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [160]}, "index": {"min": [816], "max": [975], "mean": [895.5], "std": [46.18711941656461], "count": [160]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [160]}}}
+{"episode_index": 6, "stats": {"action.arm_joint_position": {"min": [-0.03221762180328369, -0.07071344554424286, -0.019465859979391098, -2.4519503116607666, -0.38762086629867554, 1.501805305480957, -0.03281606361269951, 0.0], "max": [0.08051855862140656, 0.5501289963722229, 0.0024955268017947674, -1.5596843957901, 0.0016698738327249885, 2.3483622074127197, 0.5249406695365906, 0.634361207485199], "mean": [0.034964535385370255, 0.23480917513370514, -0.008372606709599495, -1.9959112405776978, -0.121261365711689, 2.1351020336151123, 0.25249093770980835, 0.35036173462867737], "std": [0.023612337186932564, 0.2209748774766922, 0.005100610200315714, 0.304759681224823, 0.15898622572422028, 0.2422194629907608, 0.16749346256256104, 0.2987419366836548], "count": [109]}, "action.hand_joint_position": {"min": [0.0], "max": [0.634361207485199], "mean": [0.3507658839225769], "std": [0.2985353171825409], "count": [109]}, "action.end_effector": {"min": [0.4568536579608917, -0.029121587052941322, 0.23335562646389008, -0.9998978972434998, -0.10401881486177444, -0.08408903330564499, -0.0001528659340692684], "max": [0.6618955135345459, 0.03823868930339813, 0.6231860518455505, 0.9997738003730774, 0.06355009973049164, 0.029823238030076027, 0.15850107371807098], "mean": [0.5653760433197021, 0.011353153735399246, 0.33555570244789124, 0.8460043668746948, -0.06536352634429932, -0.03888923302292824, 0.052107568830251694], "std": [0.0767773687839508, 0.012966994196176529, 0.12594057619571686, 0.519340991973877, 0.03771287202835083, 0.02694886177778244, 0.06255578249692917], "count": [109]}, "observation.state.arm_joint_position": {"min": [-0.03221762180328369, -0.07071344554424286, -0.019465859979391098, -2.4519503116607666, -0.38762086629867554, 1.501805305480957, -0.03281606361269951, 0.0], "max": [0.08051855862140656, 0.5501289963722229, 0.0024955268017947674, -1.5596843957901, 0.0016698738327249885, 2.3483622074127197, 0.5249406695365906, 0.634361207485199], "mean": [0.034964535385370255, 0.23480917513370514, -0.008372606709599495, -1.9959112405776978, -0.121261365711689, 2.1351020336151123, 0.25249093770980835, 0.35036173462867737], "std": [0.023612337186932564, 0.2209748774766922, 0.005100610200315714, 0.304759681224823, 0.15898622572422028, 0.2422194629907608, 0.16749346256256104, 0.2987419366836548], "count": [109]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.634361207485199], "mean": [0.3507658839225769], "std": [0.2985353171825409], "count": [109]}, "observation.state.end_effector": {"min": [0.4568536579608917, -0.029121587052941322, 0.23335562646389008, -0.9998978972434998, -0.10401881486177444, -0.08408903330564499, -0.0001528659340692684], "max": [0.6618955135345459, 0.03823868930339813, 0.6231860518455505, 0.9997738003730774, 0.06355009973049164, 0.029823238030076027, 0.15850107371807098], "mean": [0.5653760433197021, 0.011353153735399246, 0.33555570244789124, 0.8460043668746948, -0.06536352634429932, -0.03888923302292824, 0.052107568830251694], "std": [0.0767773687839508, 0.012966994196176529, 0.12594057619571686, 0.519340991973877, 0.03771287202835083, 0.02694886177778244, 0.06255578249692917], "count": [109]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4523629820261438]], [[0.47716625204248364]], [[0.4630079779411765]]], "std": [[[0.20525262813809428]], [[0.1998814915867247]], [[0.20919784148561063]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4523828594771242]], [[0.4343020363562092]], [[0.40259166258169937]]], "std": [[[0.21767867116900572]], [[0.22068555769652745]], [[0.23358040119418305]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4763002512254902]], [[0.4851596119281046]], [[0.4712395077614379]]], "std": [[[0.1586253273278272]], [[0.1734707748285868]], [[0.18612445267400185]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45142666053921565]], [[0.4656353921568628]], [[0.4519695690359477]]], "std": [[[0.15325183367949546]], [[0.16772597253973962]], [[0.177157472276001]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.7176470588235294]], [[0.7450980392156863]]], "mean": [[[0.49188597426470587]], [[0.5063452246732026]], [[0.49094127450980396]]], "std": [[[0.118199965069626]], [[0.11221450971802426]], [[0.11590291224949005]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4501415522875817]], [[0.46592658700980394]], [[0.44798485089869283]]], "std": [[[0.20242346765082847]], [[0.2106106209711755]], [[0.22462292413965995]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4836598570261438]], [[0.4836598570261438]], [[0.4836598570261438]]], "std": [[[0.33788181484480834]], [[0.33788181484480834]], [[0.33788181484480834]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4573274571078431]], [[0.4573274571078431]], [[0.4573274571078431]]], "std": [[[0.35315571511677607]], [[0.35315571511677607]], [[0.35315571511677607]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3239138235294118]], [[0.3239138235294118]], [[0.3239138235294118]]], "std": [[[0.33116672985263385]], [[0.33116672985263385]], [[0.33116672985263385]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3075234354575163]], [[0.3075234354575163]], [[0.3075234354575163]]], "std": [[[0.34731798122127805]], [[0.34731798122127805]], [[0.34731798122127805]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46834454861111113]], [[0.46834454861111113]], [[0.46834454861111113]]], "std": [[[0.25153049544972095]], [[0.25153049544972095]], [[0.25153049544972095]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.10845472426470588]], [[0.10845472426470588]], [[0.10845472426470588]]], "std": [[[0.20516682926926727]], [[0.20516682926926727]], [[0.20516682926926727]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [3.6], "mean": [1.7999999999999998], "std": [1.0488088481701514], "count": [109]}, "frame_index": {"min": [0], "max": [108], "mean": [54.0], "std": [31.464265445104548], "count": [109]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [109]}, "index": {"min": [976], "max": [1084], "mean": [1030.0], "std": [31.464265445104548], "count": [109]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [109]}}}
+{"episode_index": 7, "stats": {"action.arm_joint_position": {"min": [0.0034761240240186453, -0.03885355591773987, -0.024931063875555992, -2.4761962890625, -0.49055054783821106, 1.500335693359375, -0.018527090549468994, 0.0], "max": [0.17704114317893982, 0.5746475458145142, 0.012159928679466248, -1.429641842842102, 0.015760410577058792, 2.2890098094940186, 0.6869703531265259, 0.6299559473991394], "mean": [0.0634489506483078, 0.3059951066970825, -0.006326706614345312, -1.9005730152130127, -0.13703972101211548, 2.0670249462127686, 0.3095713257789612, 0.3867579698562622], "std": [0.047588467597961426, 0.23348186910152435, 0.0061126453801989555, 0.3371206820011139, 0.19414152204990387, 0.23812903463840485, 0.224355086684227, 0.2908620238304138], "count": [136]}, "action.hand_joint_position": {"min": [0.0], "max": [0.6299559473991394], "mean": [0.3865639269351959], "std": [0.29090234637260437], "count": [136]}, "action.end_effector": {"min": [0.43991175293922424, -0.003762319218367338, 0.2241528034210205, -0.999944269657135, -0.1319107711315155, -0.08755339682102203, 0.0009354862850159407], "max": [0.662736177444458, 0.06993057578802109, 0.6391809582710266, 0.9999504685401917, 0.012652572244405746, 0.012054899707436562, 0.2126520574092865], "mean": [0.5820866823196411, 0.025815289467573166, 0.3287802040576935, 0.9308220148086548, -0.0772276520729065, -0.04810318350791931, 0.06454019248485565], "std": [0.08454718440771103, 0.019072819501161575, 0.13049668073654175, 0.336249440908432, 0.03320213407278061, 0.02386164665222168, 0.07994648069143295], "count": [136]}, "observation.state.arm_joint_position": {"min": [0.0034761240240186453, -0.03885355591773987, -0.024931063875555992, -2.4761962890625, -0.49055054783821106, 1.500335693359375, -0.018527090549468994, 0.0], "max": [0.17704114317893982, 0.5746475458145142, 0.012159928679466248, -1.429641842842102, 0.015760410577058792, 2.2890098094940186, 0.6869703531265259, 0.6299559473991394], "mean": [0.0634489506483078, 0.3059951066970825, -0.006326706614345312, -1.9005730152130127, -0.13703972101211548, 2.0670249462127686, 0.3095713257789612, 0.3867579698562622], "std": [0.047588467597961426, 0.23348186910152435, 0.0061126453801989555, 0.3371206820011139, 0.19414152204990387, 0.23812903463840485, 0.224355086684227, 0.2908620238304138], "count": [136]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.6299559473991394], "mean": [0.3865639269351959], "std": [0.29090234637260437], "count": [136]}, "observation.state.end_effector": {"min": [0.43991175293922424, -0.003762319218367338, 0.2241528034210205, -0.999944269657135, -0.1319107711315155, -0.08755339682102203, 0.0009354862850159407], "max": [0.662736177444458, 0.06993057578802109, 0.6391809582710266, 0.9999504685401917, 0.012652572244405746, 0.012054899707436562, 0.2126520574092865], "mean": [0.5820866823196411, 0.025815289467573166, 0.3287802040576935, 0.9308220148086548, -0.0772276520729065, -0.04810318350791931, 0.06454019248485565], "std": [0.08454718440771103, 0.019072819501161575, 0.13049668073654175, 0.336249440908432, 0.03320213407278061, 0.02386164665222168, 0.07994648069143295], "count": [136]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45484314338235293]], [[0.47980805147058825]], [[0.46565100490196076]]], "std": [[[0.2047687730324562]], [[0.20034596243857233]], [[0.21014100354541623]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45332116830065355]], [[0.4354519342320261]], [[0.4048774632352941]]], "std": [[[0.21850545774884486]], [[0.22176860458146128]], [[0.23447766310330073]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47625090277777776]], [[0.4849520955882353]], [[0.4703643239379085]]], "std": [[[0.1583035245980347]], [[0.1732744740343301]], [[0.18605538422083717]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45031473447712417]], [[0.464672073120915]], [[0.4508258823529412]]], "std": [[[0.15399190994591572]], [[0.1696023230828158]], [[0.17962510012381153]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.7098039215686275]], [[0.7372549019607844]]], "mean": [[[0.4912507802287582]], [[0.5056913357843138]], [[0.490256875]]], "std": [[[0.11791512690494822]], [[0.11189478715283972]], [[0.11551023303074322]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44870766544117646]], [[0.4642182475490196]], [[0.44540690767973856]]], "std": [[[0.2067614854015819]], [[0.21587576043568066]], [[0.23032604435824663]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48240529207516336]], [[0.48240529207516336]], [[0.48240529207516336]]], "std": [[[0.3386571391698919]], [[0.3386571391698919]], [[0.3386571391698919]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45610930555555557]], [[0.45610930555555557]], [[0.45610930555555557]]], "std": [[[0.3531266125216005]], [[0.3531266125216005]], [[0.3531266125216005]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3238213357843137]], [[0.3238213357843137]], [[0.3238213357843137]]], "std": [[[0.3311524586534948]], [[0.3311524586534948]], [[0.3311524586534948]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3083683251633987]], [[0.3083683251633987]], [[0.3083683251633987]]], "std": [[[0.34723443212056965]], [[0.34723443212056965]], [[0.34723443212056965]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46829145220588236]], [[0.46829145220588236]], [[0.46829145220588236]]], "std": [[[0.25158873397200243]], [[0.25158873397200243]], [[0.25158873397200243]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1057827920751634]], [[0.1057827920751634]], [[0.1057827920751634]]], "std": [[[0.2064807080663386]], [[0.2064807080663386]], [[0.2064807080663386]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.5], "mean": [2.25], "std": [1.3086252328302401], "count": [136]}, "frame_index": {"min": [0], "max": [135], "mean": [67.5], "std": [39.2587569849072], "count": [136]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [136]}, "index": {"min": [1085], "max": [1220], "mean": [1152.5], "std": [39.2587569849072], "count": [136]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [136]}}}
+{"episode_index": 8, "stats": {"action.arm_joint_position": {"min": [0.011929917149245739, -0.039634983986616135, -0.03157510608434677, -2.4272608757019043, -0.436985045671463, 1.5606855154037476, -0.019064446911215782, 0.0], "max": [0.15414293110370636, 0.5426233410835266, -0.004936914891004562, -1.5912821292877197, 0.0019535061437636614, 2.2816407680511475, 0.6459354758262634, 0.6519823670387268], "mean": [0.06833846867084503, 0.27159014344215393, -0.021249957382678986, -1.9593479633331299, -0.1295233964920044, 2.106466054916382, 0.2910442054271698, 0.3937912583351135], "std": [0.04056938737630844, 0.21749763190746307, 0.0070386845618486404, 0.28808799386024475, 0.1848922073841095, 0.19939060509204865, 0.22511069476604462, 0.29974231123924255], "count": [128]}, "action.hand_joint_position": {"min": [0.0], "max": [0.6519823670387268], "mean": [0.3935847878456116], "std": [0.29972007870674133], "count": [128]}, "action.end_effector": {"min": [0.4591960608959198, -0.010672994889318943, 0.23080871999263763, -0.9999118447303772, -0.12110649049282074, -0.08726292848587036, -0.00095563376089558], "max": [0.662997841835022, 0.07004127651453018, 0.6199773550033569, 0.9996882677078247, 0.06252682209014893, 0.017655503004789352, 0.20574548840522766], "mean": [0.5746948719024658, 0.02120302803814411, 0.32709744572639465, 0.7249270081520081, -0.0701388269662857, -0.04526972770690918, 0.06216885522007942], "std": [0.07528699189424515, 0.018450113013386726, 0.11863190680742264, 0.6748582124710083, 0.04257097467780113, 0.023211762309074402, 0.07656502723693848], "count": [128]}, "observation.state.arm_joint_position": {"min": [0.011929917149245739, -0.039634983986616135, -0.03157510608434677, -2.4272608757019043, -0.436985045671463, 1.5606855154037476, -0.019064446911215782, 0.0], "max": [0.15414293110370636, 0.5426233410835266, -0.004936914891004562, -1.5912821292877197, 0.0019535061437636614, 2.2816407680511475, 0.6459354758262634, 0.6519823670387268], "mean": [0.06833846867084503, 0.27159014344215393, -0.021249957382678986, -1.9593479633331299, -0.1295233964920044, 2.106466054916382, 0.2910442054271698, 0.3937912583351135], "std": [0.04056938737630844, 0.21749763190746307, 0.0070386845618486404, 0.28808799386024475, 0.1848922073841095, 0.19939060509204865, 0.22511069476604462, 0.29974231123924255], "count": [128]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.6519823670387268], "mean": [0.3935847878456116], "std": [0.29972007870674133], "count": [128]}, "observation.state.end_effector": {"min": [0.4591960608959198, -0.010672994889318943, 0.23080871999263763, -0.9999118447303772, -0.12110649049282074, -0.08726292848587036, -0.00095563376089558], "max": [0.662997841835022, 0.07004127651453018, 0.6199773550033569, 0.9996882677078247, 0.06252682209014893, 0.017655503004789352, 0.20574548840522766], "mean": [0.5746948719024658, 0.02120302803814411, 0.32709744572639465, 0.7249270081520081, -0.0701388269662857, -0.04526972770690918, 0.06216885522007942], "std": [0.07528699189424515, 0.018450113013386726, 0.11863190680742264, 0.6748582124710083, 0.04257097467780113, 0.023211762309074402, 0.07656502723693848], "count": [128]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4522270179738562]], [[0.4768337214052288]], [[0.4625709048202615]]], "std": [[[0.2055201686407588]], [[0.20009337130713434]], [[0.20939770388919515]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45931492442810457]], [[0.44168822916666667]], [[0.41102624591503273]]], "std": [[[0.21986843563689493]], [[0.22307969880937467]], [[0.23603355912812002]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47742244689542485]], [[0.48601095996732024]], [[0.47149012867647055]]], "std": [[[0.15891889055357675]], [[0.17377974812212085]], [[0.1864116144505969]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.453344675245098]], [[0.46739721609477125]], [[0.45338521037581697]]], "std": [[[0.15391396476315328]], [[0.16857651075737065]], [[0.17780560262756948]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.7176470588235294]], [[0.7372549019607844]]], "mean": [[[0.49184924428104576]], [[0.5063365012254902]], [[0.49090467524509807]]], "std": [[[0.11824998227844757]], [[0.11229188515909476]], [[0.11597624494792715]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45095725285947713]], [[0.46671228758169936]], [[0.44847489379084965]]], "std": [[[0.20610150093803226]], [[0.21441460724447742]], [[0.2288211115660885]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4827257107843137]], [[0.4827257107843137]], [[0.4827257107843137]]], "std": [[[0.33812588120317455]], [[0.33812588120317455]], [[0.33812588120317455]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4563463909313725]], [[0.4563463909313725]], [[0.4563463909313725]]], "std": [[[0.35349267676541624]], [[0.35349267676541624]], [[0.35349267676541624]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3240371711601307]], [[0.3240371711601307]], [[0.3240371711601307]]], "std": [[[0.3315739112662545]], [[0.3315739112662545]], [[0.3315739112662545]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3080925204248366]], [[0.3080925204248366]], [[0.3080925204248366]]], "std": [[[0.3471081181003576]], [[0.3471081181003576]], [[0.3471081181003576]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.468268858251634]], [[0.468268858251634]], [[0.468268858251634]]], "std": [[[0.25158992167784794]], [[0.25158992167784794]], [[0.25158992167784794]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.0986757679738562]], [[0.0986757679738562]], [[0.0986757679738562]]], "std": [[[0.1975583797337004]], [[0.1975583797337004]], [[0.1975583797337004]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.233333333333333], "mean": [2.1166666666666667], "std": [1.2316429857894877], "count": [128]}, "frame_index": {"min": [0], "max": [127], "mean": [63.5], "std": [36.94928957368463], "count": [128]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [128]}, "index": {"min": [1221], "max": [1348], "mean": [1284.5], "std": [36.94928957368463], "count": [128]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [128]}}}
+{"episode_index": 9, "stats": {"action.arm_joint_position": {"min": [0.06485240161418915, -0.12484053522348404, -0.13101626932621002, -2.635631799697876, -0.4999653398990631, 1.5740073919296265, -0.004755005240440369, 0.0], "max": [0.26785412430763245, 0.5846386551856995, -0.038283273577690125, -1.658078670501709, 0.008803960867226124, 2.4289491176605225, 0.5460641384124756, 0.6299559473991394], "mean": [0.10393086075782776, 0.3096005618572235, -0.0476895235478878, -1.9839667081832886, -0.10432163625955582, 2.2036356925964355, 0.23901532590389252, 0.47091755270957947], "std": [0.055570658296346664, 0.25151726603507996, 0.015853840857744217, 0.3144034147262573, 0.17658846080303192, 0.19191858172416687, 0.12930817902088165, 0.2538844347000122], "count": [216]}, "action.hand_joint_position": {"min": [0.0], "max": [0.6299559473991394], "mean": [0.47079455852508545], "std": [0.2539009749889374], "count": [216]}, "action.end_effector": {"min": [0.4007936716079712, 0.0003260747471358627, 0.21788504719734192, -0.9999375939369202, -0.10376142710447311, -0.09386985003948212, 0.0004857954918406904], "max": [0.6595649123191833, 0.09307947754859924, 0.6272609829902649, 0.999864935874939, 0.03226844593882561, 0.05398035794496536, 0.17710115015506744], "mean": [0.58046954870224, 0.028196129947900772, 0.29771628975868225, 0.9294760227203369, -0.050739653408527374, -0.03209193795919418, 0.04857637733221054], "std": [0.09075213223695755, 0.020208751782774925, 0.09618374705314636, 0.3530653715133667, 0.03917492553591728, 0.022580768913030624, 0.058398786932229996], "count": [216]}, "observation.state.arm_joint_position": {"min": [0.06485240161418915, -0.12484053522348404, -0.13101626932621002, -2.635631799697876, -0.4999653398990631, 1.5740073919296265, -0.004755005240440369, 0.0], "max": [0.26785412430763245, 0.5846386551856995, -0.038283273577690125, -1.658078670501709, 0.008803960867226124, 2.4289491176605225, 0.5460641384124756, 0.6299559473991394], "mean": [0.10393086075782776, 0.3096005618572235, -0.0476895235478878, -1.9839667081832886, -0.10432163625955582, 2.2036356925964355, 0.23901532590389252, 0.47091755270957947], "std": [0.055570658296346664, 0.25151726603507996, 0.015853840857744217, 0.3144034147262573, 0.17658846080303192, 0.19191858172416687, 0.12930817902088165, 0.2538844347000122], "count": [216]}, "observation.state.hand_joint_position": {"min": [0.0], "max": [0.6299559473991394], "mean": [0.47079455852508545], "std": [0.2539009749889374], "count": [216]}, "observation.state.end_effector": {"min": [0.4007936716079712, 0.0003260747471358627, 0.21788504719734192, -0.9999375939369202, -0.10376142710447311, -0.09386985003948212, 0.0004857954918406904], "max": [0.6595649123191833, 0.09307947754859924, 0.6272609829902649, 0.999864935874939, 0.03226844593882561, 0.05398035794496536, 0.17710115015506744], "mean": [0.58046954870224, 0.028196129947900772, 0.29771628975868225, 0.9294760227203369, -0.050739653408527374, -0.03209193795919418, 0.04857637733221054], "std": [0.09075213223695755, 0.020208751782774925, 0.09618374705314636, 0.3530653715133667, 0.03917492553591728, 0.022580768913030624, 0.058398786932229996], "count": [216]}, "observation.rgb_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45328456086601304]], [[0.4779746139705882]], [[0.4636919321895425]]], "std": [[[0.206314185753483]], [[0.2018316623563495]], [[0.21141039263440198]]], "count": [100]}, "observation.rgb_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45482997753267973]], [[0.4352747569444444]], [[0.4026065073529412]]], "std": [[[0.21902880570342662]], [[0.22195534110385254]], [[0.2350073522739559]]], "count": [100]}, "observation.rgb_images.camera_top": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47815294934640523]], [[0.4862107046568628]], [[0.47149028390522874]]], "std": [[[0.15912869782924413]], [[0.17367756864269726]], [[0.18659181529875482]]], "count": [100]}, "observation.rgb_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4576520445261438]], [[0.4694750816993464]], [[0.45450066380718956]]], "std": [[[0.15545118362266802]], [[0.1710319781558303]], [[0.18054461715831427]]], "count": [100]}, "observation.rgb_images.camera_wrist_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.7137254901960784]], [[0.7450980392156863]]], "mean": [[[0.49195620098039217]], [[0.506391544117647]], [[0.4909218525326797]]], "std": [[[0.11826652627367812]], [[0.11229452742527946]], [[0.11596738505591081]]], "count": [100]}, "observation.rgb_images.camera_wrist_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45464172998366015]], [[0.4686268178104575]], [[0.4500690298202614]]], "std": [[[0.21001667001532554]], [[0.2189073994597672]], [[0.23407055764499957]]], "count": [100]}, "observation.depth_images.camera_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4815901245915033]], [[0.4815901245915033]], [[0.4815901245915033]]], "std": [[[0.3389806944332557]], [[0.3389806944332557]], [[0.3389806944332557]]], "count": [100]}, "observation.depth_images.camera_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45604412581699344]], [[0.45604412581699344]], [[0.45604412581699344]]], "std": [[[0.35412579146115913]], [[0.35412579146115913]], [[0.35412579146115913]]], "count": [100]}, "observation.depth_images.camera_top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3239418913398693]], [[0.3239418913398693]], [[0.3239418913398693]]], "std": [[[0.33196933839093296]], [[0.33196933839093296]], [[0.33196933839093296]]], "count": [100]}, "observation.depth_images.camera_front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3114703594771242]], [[0.3114703594771242]], [[0.3114703594771242]]], "std": [[[0.34859864517851863]], [[0.34859864517851863]], [[0.34859864517851863]]], "count": [100]}, "observation.depth_images.camera_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.468277608251634]], [[0.468277608251634]], [[0.468277608251634]]], "std": [[[0.25156849302370293]], [[0.25156849302370293]], [[0.25156849302370293]]], "count": [100]}, "observation.depth_images.camera_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.06838660539215687]], [[0.06838660539215687]], [[0.06838660539215687]]], "std": [[[0.1699523454041869]], [[0.1699523454041869]], [[0.1699523454041869]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.166666666666667], "mean": [3.5833333333333335], "std": [2.0784386946473563], "count": [216]}, "frame_index": {"min": [0], "max": [215], "mean": [107.5], "std": [62.353160839420696], "count": [216]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [216]}, "index": {"min": [1349], "max": [1564], "mean": [1456.5], "std": [62.353160839420696], "count": [216]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [216]}}}
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/info.json b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..05dc2d96bcf83c38eef3663c3500a813c41ca749
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/info.json
@@ -0,0 +1,245 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "franka_fr3_dualArm-gripper-6cameras_2",
+    "total_episodes": 10,
+    "total_frames": 1565,
+    "total_tasks": 1,
+    "total_videos": 60,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:10"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action.arm_joint_position": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ]
+        },
+        "action.hand_joint_position": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "action.end_effector": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "observation.state.arm_joint_position": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ]
+        },
+        "observation.state.hand_joint_position": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "observation.state.end_effector": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "observation.rgb_images.camera_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_images.camera_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_images.camera_top": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_images.camera_front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_images.camera_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_images.camera_wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.depth_images.camera_left": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                1
+            ]
+        },
+        "observation.depth_images.camera_right": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                1
+            ]
+        },
+        "observation.depth_images.camera_top": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                1
+            ]
+        },
+        "observation.depth_images.camera_front": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                1
+            ]
+        },
+        "observation.depth_images.camera_wrist_left": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                1
+            ]
+        },
+        "observation.depth_images.camera_wrist_right": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                1
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/tasks.jsonl b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bebe51bcf1d4426583f902681abe738b5449a651
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up power strip and pull out apple phone charger and insert into power strip"}
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000000.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..065206aadd3bd88523c871d265ce602faeef14f1
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be7beae2d3bee6e845e581e3b3ac2c7ff0c1f4b9f4512a3d915272d922e15ae1
+size 718489
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000001.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fea45627f09b8e01a153231decaa02c044bcfdb
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70d2455db5da946ea9d44dceec809114c0aa3e98e194559a0a0511331cfd03f
+size 953165
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000002.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a31005c1f8dbe90ac839f764a0ba902c3f7d159
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33244e54a4cc7167e1f815252c2675b7596d37478a16492344d56bb1354fe0f3
+size 1120269
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000003.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03018ea9c6ef3058f3ead248816e1c2dc4bfbff9
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8cbd3f185e8c131445e3ff8b22b625716955bc060ada1645e76cdd884a74df1
+size 1141667
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000004.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b093b586e10276fd1a43159a067ff2e959760a4
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0807e15f4834eec36dd70386676c79dbbdd0053ceaee8c48ce2920319c8ad59
+size 643519
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000005.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86c43ad356fa2fec6f42b6dcf73f91f9957a50e0
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c9a070c889581b516a3a122fd7479cb38d9948533e10697e674ce507dbf81d
+size 896007
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000006.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27bfc6a7560cd108d4d9f6f07f4670229cfe2104
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61be663ad2dbb48eea0bc320386da6ce8b9eadd91c866a49fba29862959dfe26
+size 611735
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000007.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..657040f7afef606fd754dedef41b9ddbde166cc9
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a90870b7ede8d7608f87591d8cabbdb384e400a6eaad0f674992682aafa193
+size 757509
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000008.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7b5d100794a1d4145d4ad7814e351f3e3166c50
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3011b41de6e084a8eadb2902b858433fdd874d6bad922236950a3a7a293d3b6
+size 714619
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000009.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96468f0f97a20126b9c73ec85fa6ce41dfc87a98
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_front/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc5071fc3afcd8da8cbe2a299b8b02ae37a8fc6b2e6d5840f92fa45e274cda9
+size 1220635
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000000.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e4fff4b0c2dd51652f1b1726780d117e29a67b7
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c948869a7aa0d4c72a82235be6ca992b471bbb07bdb2fd26e156acccac8ac41e
+size 913127
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000001.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0fef70fb8c7bf4ad57b100dfcb2ccd4534157c8
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8ca76b4a2286132ba9cc0493267241d4be2db1f2d46ed4dc718637b4e6465b2
+size 1203179
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000002.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cbeef10eb7f0b212ae6e28223ca84f2cffa13d0
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48e18a35f16f29265c9fa2cb8ef813d075614fffa210508c6bbca88c8243e051
+size 1421455
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000003.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51c8065ffebd588b27b85e3bf137ffc46be29456
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71a509417b6a93381a87aae35697e76379fdc6896cf5b9a3ec33708fac2f67b
+size 1442183
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000004.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42ecb7c7864a4d0e35a7b838571cabc21e734f76
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ba89e9857ea39912254e016220befa3faaff206a506c9bf5713dcb334d02f9
+size 819214
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000005.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30456dfccc91254db61317f23777b6837172e632
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39ddbda94155682ce92543bc085acd6c828914d5a2230332c06ec24d43253fd
+size 1135115
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000006.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4533614b22820d92c5fbaaab75891fbb3b7da7c
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64bdcb517d140a05ebdc007ce99b8e4767eb2be7a11f729238d45d5e651e9260
+size 774032
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000007.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c277690fef4dbfd2b2423b6a0a9b75151f29c5f0
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c78d91a6a954bc73e987788e84d05d7e39c362be676a8c81b9f6d5ccfa40276
+size 958313
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000008.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cabe1b14a5554aa978400c84b287f3b4828492de
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc142fe6092b97ff6b409efcfdab1f5e2690711e211190b4fbb7f14e9894819
+size 906588
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000009.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de0fae2e637decd8fe2f2d1e1d2cdeb02b6bf07c
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a6ef4385328c8ec38624d6c1415ba5b41e9d378310b480c6a7d84be2458b49
+size 1536555
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000000.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c748bde525064722e46653e436f2d0a9df038ee7
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded68978e7e1df1f23e8d17785a7c77731fd9f7208da5662cd3531319be42dcc
+size 1083993
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000001.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6149e81c0a350f59d1a942f005f9af2a4090fab
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5223bab6517990a3de52e33318efec13eeed639492a180f81b31842ee34edf3
+size 1427787
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000002.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ba12a2830f5ffd0bd6b6f074ca7a414f862e450
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe5180f6f777c2c28c3c1e7d5638654b4da66a31defa5387655f0a76f0d920b
+size 1684227
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000003.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fce74cdf831dbfdccc39b28fd585d0ae834e379e
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61bb9618b3dfe4396bee837fef035b3fb7d5344824ff68341b94629a79381305
+size 1703429
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000004.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf829e4cf4215950a4e6a6502818bd239a1dcdfd
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbd95e1a122cbb9d463449501dbfd05219a95b0e6d0ae7987014ac44bb48704
+size 968390
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000005.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ab45f7b7a92482f26ece2608ef05b800df4d664
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113d8facd621a2ee60cdd5163a051f45778086696dd32739ac1246bebfa3c4bf
+size 1336978
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000006.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d35e16d6d1f0aa107b5b89c805ee6a4a9431fd3f
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16a4615c5d1a0c0448cbcfe6daf4d77f34e67882b81c4d2435e0bc7aa80539c
+size 910491
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000007.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcf78be12367ca94d36b4477823c7cbdd6f7aabc
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c64ba9edfda9b8b928d6d91fef72e40b4080dee4c9177d8fcd4237ed26c53e8
+size 1141407
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000008.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8f60fac45d9f6151d7448bae855267dc24c292f
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d64b4df7c2503abc9232efb2a09e7771f06b6bd441036054349ba521348a0021
+size 1073098
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000009.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5806aa3d1f2c4e610f8d66cfd95abe56785c4135
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bd96a8bae2abb7e14c09416109dc6ef54e5806e0c1fac13c5acfc6056c9980
+size 1826762
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000000.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..591ca12585ad7a46475a5500b1136e1b254ac756
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:595dcdd6957b40621a2fe6f7cbd830f011a98fb60e4784a18f33f7797866ae0a
+size 745463
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000001.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66b451666c733e072ab38a544ba3d4e3c129983a
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee6b8555637f4623018368477fa876188b2a3e3a9de4ba670d1f3211d7600b0
+size 976341
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000002.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8213672bcc48014dae3630982c34ec294547434
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0d32fe62c457b1c2738261cf3607d1940658ead4b4c16b6444cbab7e54bba9
+size 1166481
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000003.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34104defd6716719652e74f12c9df652a01ed887
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7eca60b9c6fd7165b67bccefba44b2e02863356960ca6ba5770ae6cc9d2db2e
+size 1178329
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000004.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abfc9d6ba72fd205f23626611b29690e69b938f5
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a1d40ee884737f1ae12901a10eca861851d62d3e97daeb3bc9997a3b126038e
+size 674021
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000005.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45c6b4ea43429773a64a333468fe90a2f3967972
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e57a20f225c67b54b5a9b7f754e3fcf6dc84999dcc2ecd0a99b3e8fd937d96
+size 936927
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000006.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b09f2c35a1b8237576dc9ad0f0ff514caa5b75a4
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6101d50f7d5fc7065c942d95995945bf723d0e0cd29992d65316c260f72438
+size 635035
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000007.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b633af5ba0072b8d64637eb0aee57826bfec5b11
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe7bd867f4d4292e5d2cf97887181de9b5c2dd2af49bcab6504786b5a4c515c6
+size 786767
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000008.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e44de5a80daad89aeaedf7d152d9588a4a06833
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a32559e016366a8c4e97fcae4d153e4f29105b23057dfc8ac65ee42cb5ad44
+size 743933
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000009.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d89a998f5073e26443d723078f0b1e2287f4aaa
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_top/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451cb6a615cf37d01d88e20ced87df0028fc60fde645419225dfde782aef7629
+size 1254883
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000000.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b5976fa1f8ff4d3864286863a1cbc79d3a20762
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07b4b85ccf224c5e902a97c49ecb4e58560974a4708d0ba3bbbd470229fcfad7
+size 140374
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000001.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5abbfed134102c3a7ac5257a8c1ba782adf0cd89
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bff15d151b890d6476ca1ad4e462a38daf83c2e6c0fafa7824314caeab1f2ce
+size 183566
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000002.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e82b93aa239c7c637120c5f3f36f4859a760032f
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b2397de3883c5cb430b68b40fb0e3ce992d258799404b6633d5c2fa1d536595
+size 216190
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000003.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..628a36733b4521d2b7cd16aa53c07ea07cdfec40
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80cb8285fa7d879e4de81f799d25a5f31150f4d6bcc127176d4d621b3d38cd5
+size 218778
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000004.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d36de5f258f9c2c84613c68cff246854a23636b9
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5c6866ac4fc135fd3326bec081f113326c2685dbf89ea358677f6dcf5d83bf
+size 124666
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000005.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4dedb074df604db00fd65fc4e3a1aa9ae4fea70
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71556cf98bf1d672fbb1185f9c097fdf2b7f1697981eab8d937a0c1f6e9126e9
+size 172836
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000006.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad71fc25bee40e59358b205bf8da9ad1b641331c
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8bf64a68a6c08e2fe8dbc5af41654395d1ed5eb858bdca0942410375877b5e
+size 117902
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000007.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdff8fc4a79654ec39d202bfb12013fe401d5ec7
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b675666ac3479b9004b76664a57ddb095a1c39b67a49fef16587cbdc1c3be865
+size 146361
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000008.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..697f5982659abf5a61a88a051df8f6f0047b5cd2
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3aac6e5d86358402ed3f8cdebe8bccb8b71144c5367e87eacf5866118e369b4
+size 137810
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000009.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..401f01d34151dba206c97dea15f138dcab326769
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a523ead924a79117a2e2c863d44beb187fdc16a9a47f0b9d0e51f35c4986cd
+size 232945
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000000.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82c520531575c38e46077a7f4698d5f7e041fd56
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea48884e86220dd9e2206e8c493f25ec818cd82479b997eed87ef943ad9484b
+size 344451
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000001.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3aa15320de95e9662a8df74e0593b35cf12b6ac5
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2728d3ddf882e0928a2e29faf9b52c08a861bfc8cd7ba44e0e0fc018ee50106
+size 457771
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000002.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfa1ccf90bc8e6ab770834761b4bf2135040dfd0
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aadcf8ef62cc1b06ce5648f8dc6de26bcc296909292144dd913fe20c1c29e4c7
+size 522520
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000003.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..192a1ca0518b4fe3bf537a3d24146c2fcf4a7626
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2323a73be99677536b788301ead93a4ea605cfce4741a385f482d29d006cdbb5
+size 555092
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000004.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d9b39830dfd4e9d9121e4be85d58d8f448d0fae
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e3c9580ec4669ef9884a6d728170a1f722bf1709bbe23ce13b59d92b0c2775
+size 333772
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000005.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a96e91f9aacb146ac62dec6913b319d440c2cd8
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddc3939e4bed4e0e05be7ef54769e2b40114d1810b69fe7abb59448ef9c363b
+size 438202
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000006.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd0d1d19aa35c9047c73ac70fee947f4a4a49dd9
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6c2cbc4281e344611df8ec55b1a2935d58e58a5ff4a6745622f7d2cfeab9d8
+size 314208
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000007.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6decfc73b6d9ca04a156adbdc2c17869e7bc6f3a
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abfa5e4e139dc9d890bd96cccb6635ee5b8a67af41d0ec819362e50f918cdbb4
+size 382924
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000008.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b93e457dcee79f371e7de57168c1ee2bc998169
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fdd0f310e05d03f45f69697344059f23780b8f435260e032c68bc57d7e2ae1c
+size 364034
diff --git a/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000009.mp4 b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c94f31b2c67f2e6db4f815366209b66bbb702b1e
--- /dev/null
+++ b/single_arm/robogene_right_arm_franka_force_control_and_insert_plug/videos/chunk-000/observation.rgb_images.camera_wrist_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fe2ffd38fcf344968b1f47990dcfc5d95473a85f65bce339ffcb3491a9f285
+size 542790