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+  "source": "isaac_articulation_get_joint_positions",
+  "source_episode": "0051",
+  "tracking_error_vs_action_target": {
+    "max_abs_14d": 0.0020999982953071594,
+    "max_abs_arm_12d": 0.0,
+    "rms_14d": 0.0006405537715181708,
+    "rms_arm_12d": 0.0
+  },
+  "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
+}
diff --git a/teleoperation/V3/put_baozi/0051/sim/state.npy b/teleoperation/V3/put_baozi/0051/sim/state.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ba4f7a543aa486c730cf6256a99436ad2fa6e32
--- /dev/null
+++ b/teleoperation/V3/put_baozi/0051/sim/state.npy
@@ -0,0 +1,3 @@
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+size 22976