diff --git a/.gitattributes b/.gitattributes
index 9f2c601d2ff092060e6639182c180fab04e63536..c4669cde58d4013a2eb2eecd70baf3262d0f2b40 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -70608,3 +70608,6 @@ task_678_isaac_state_train_705.zarr/data/head_camera/791.0.0.0 filter=lfs diff=l
 task_678_isaac_state_train_705.zarr/data/head_camera/794.0.0.0 filter=lfs diff=lfs merge=lfs -text
 task_678_isaac_state_train_705.zarr/data/head_camera/793.0.0.0 filter=lfs diff=lfs merge=lfs -text
 task_678_isaac_state_train_705.zarr/data/head_camera/795.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_679_isaac_state_train_727.zarr/data/head_camera/31.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_679_isaac_state_train_727.zarr/data/head_camera/77.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_679_isaac_state_train_727.zarr/data/head_camera/32.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/task_679_isaac_state_train_727.zarr/.zgroup b/task_679_isaac_state_train_727.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_679_isaac_state_train_727.zarr/data/.zgroup b/task_679_isaac_state_train_727.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_679_isaac_state_train_727.zarr/data/head_camera/.zarray b/task_679_isaac_state_train_727.zarr/data/head_camera/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..494a4d24da71e0c9ecea0212649990ca3e7adb34
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/data/head_camera/.zarray
@@ -0,0 +1,26 @@
+{
+    "chunks": [
+        100,
+        3,
+        256,
+        256
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        88985,
+        3,
+        256,
+        256
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_679_isaac_state_train_727.zarr/data/head_camera/31.0.0.0 b/task_679_isaac_state_train_727.zarr/data/head_camera/31.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..301e23216d2d865affa73a8656eaa8caac1aae9e
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/data/head_camera/31.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe07a74ec8309080ef4a956049966d8dadd7a544320127c4573fe9ae66b52480
+size 10696481
diff --git a/task_679_isaac_state_train_727.zarr/data/head_camera/32.0.0.0 b/task_679_isaac_state_train_727.zarr/data/head_camera/32.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3bc43833961958507d95b5a04b0a8a67bd5a64e5
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/data/head_camera/32.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d246d982fc7aacd7e13da668ac106b5cab79ae2f2407aec926bfad26c81939
+size 8320432
diff --git a/task_679_isaac_state_train_727.zarr/data/head_camera/77.0.0.0 b/task_679_isaac_state_train_727.zarr/data/head_camera/77.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..330fd8fe2ecb04c013085fab906a9f68b07df6d6
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/data/head_camera/77.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73fb2a7db60a9cf1b68dc1dcd7925f4c541a596782e47e25f682a0ceca19f0f8
+size 10692305
diff --git a/task_679_isaac_state_train_727.zarr/data/state/112.0 b/task_679_isaac_state_train_727.zarr/data/state/112.0
new file mode 100644
index 0000000000000000000000000000000000000000..f415268cafd68d2d7e810e6282decb3dd32183c1
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/112.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/113.0 b/task_679_isaac_state_train_727.zarr/data/state/113.0
new file mode 100644
index 0000000000000000000000000000000000000000..1caf1d9abbdfa9b9b48ae06fd58b8513412e4790
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/113.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/114.0 b/task_679_isaac_state_train_727.zarr/data/state/114.0
new file mode 100644
index 0000000000000000000000000000000000000000..c61f2ae389e8e59c3d53013fa58332252c39c07f
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/114.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/115.0 b/task_679_isaac_state_train_727.zarr/data/state/115.0
new file mode 100644
index 0000000000000000000000000000000000000000..95f99bd114ab457f5906d2feb4b6959add5f1a25
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/115.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/116.0 b/task_679_isaac_state_train_727.zarr/data/state/116.0
new file mode 100644
index 0000000000000000000000000000000000000000..533fb723a461b48301e2ffaba6c572e656482158
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/116.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/117.0 b/task_679_isaac_state_train_727.zarr/data/state/117.0
new file mode 100644
index 0000000000000000000000000000000000000000..30e7bcbaf8856f0bd2fc4d1317b4c757ed6c9b96
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/117.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/118.0 b/task_679_isaac_state_train_727.zarr/data/state/118.0
new file mode 100644
index 0000000000000000000000000000000000000000..e326334238d08a4548cd8d527485724eddd382eb
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/118.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/119.0 b/task_679_isaac_state_train_727.zarr/data/state/119.0
new file mode 100644
index 0000000000000000000000000000000000000000..3897a30f8479f7e9460517003a6205b43a84a13e
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/119.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/120.0 b/task_679_isaac_state_train_727.zarr/data/state/120.0
new file mode 100644
index 0000000000000000000000000000000000000000..d36d028761cea9a5a416edc8a1253149d36009b1
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/120.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/121.0 b/task_679_isaac_state_train_727.zarr/data/state/121.0
new file mode 100644
index 0000000000000000000000000000000000000000..46f853f5b1d5569e1b26f639b59ccb40607bc94a
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/121.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/122.0 b/task_679_isaac_state_train_727.zarr/data/state/122.0
new file mode 100644
index 0000000000000000000000000000000000000000..856a9326d52efee804ac985b80b2af178be78608
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/122.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/162.0 b/task_679_isaac_state_train_727.zarr/data/state/162.0
new file mode 100644
index 0000000000000000000000000000000000000000..743b2c6bf2852eda3da72a96251f4bc3d476c964
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/162.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/163.0 b/task_679_isaac_state_train_727.zarr/data/state/163.0
new file mode 100644
index 0000000000000000000000000000000000000000..17df9125f356752594ea3438b7d0b2c2d098e27c
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/163.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/164.0 b/task_679_isaac_state_train_727.zarr/data/state/164.0
new file mode 100644
index 0000000000000000000000000000000000000000..b6fcfd5d204e24689eaa8294c3b1466d8b2c456b
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/164.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/165.0 b/task_679_isaac_state_train_727.zarr/data/state/165.0
new file mode 100644
index 0000000000000000000000000000000000000000..d2aba1b5366fdbc8b0b71bbddf5513da8e74afe7
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/165.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/166.0 b/task_679_isaac_state_train_727.zarr/data/state/166.0
new file mode 100644
index 0000000000000000000000000000000000000000..405f1a4d26542e9afef47e9e3e283e38964e65f2
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/166.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/167.0 b/task_679_isaac_state_train_727.zarr/data/state/167.0
new file mode 100644
index 0000000000000000000000000000000000000000..b62a35724f4cd146158df613d2cfccd447e642fa
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/167.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/168.0 b/task_679_isaac_state_train_727.zarr/data/state/168.0
new file mode 100644
index 0000000000000000000000000000000000000000..49841869b5ac693fc1731052e8a9865b2bfb9a1e
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/168.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/169.0 b/task_679_isaac_state_train_727.zarr/data/state/169.0
new file mode 100644
index 0000000000000000000000000000000000000000..1e389c313a6faec32149b39a10e21c393a652d82
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/169.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/170.0 b/task_679_isaac_state_train_727.zarr/data/state/170.0
new file mode 100644
index 0000000000000000000000000000000000000000..ea4b0733407750cdb7688e7eb8e0e0f32430d574
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/170.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/171.0 b/task_679_isaac_state_train_727.zarr/data/state/171.0
new file mode 100644
index 0000000000000000000000000000000000000000..ab3e69b1350ebd9ed04fb302226e9d83f7b17019
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/171.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/172.0 b/task_679_isaac_state_train_727.zarr/data/state/172.0
new file mode 100644
index 0000000000000000000000000000000000000000..5be4696db29381fccce61141e1c434c2fa9b496f
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/172.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/21.0 b/task_679_isaac_state_train_727.zarr/data/state/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..6ee6b1de3680e1262618af3591e98c6ab10afb07
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/21.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/22.0 b/task_679_isaac_state_train_727.zarr/data/state/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..ee55581828d5cf58232e9f17f748b1d9f76027b5
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/22.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/23.0 b/task_679_isaac_state_train_727.zarr/data/state/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..0b841b506410f0d4ea63044a7afdb212a3ecefae
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/23.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/24.0 b/task_679_isaac_state_train_727.zarr/data/state/24.0
new file mode 100644
index 0000000000000000000000000000000000000000..b7f8bc45b8b838786d016099ceefa8479cc5882b
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/24.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/25.0 b/task_679_isaac_state_train_727.zarr/data/state/25.0
new file mode 100644
index 0000000000000000000000000000000000000000..d7e360fb8c8cc740d0aef191f6e8921f1a06c27a
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/25.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/26.0 b/task_679_isaac_state_train_727.zarr/data/state/26.0
new file mode 100644
index 0000000000000000000000000000000000000000..01db25783337c00057bf24992eaec8d0263914e0
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/26.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/27.0 b/task_679_isaac_state_train_727.zarr/data/state/27.0
new file mode 100644
index 0000000000000000000000000000000000000000..4e298b71a191cadd2e9fc66aaad9a62bf80273e4
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/27.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/28.0 b/task_679_isaac_state_train_727.zarr/data/state/28.0
new file mode 100644
index 0000000000000000000000000000000000000000..d38ad781a3a578146e78cf86e720ff45aae6390e
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/28.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/29.0 b/task_679_isaac_state_train_727.zarr/data/state/29.0
new file mode 100644
index 0000000000000000000000000000000000000000..65d887afbac08d29e78a1e0628c1907b81c31949
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/29.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/30.0 b/task_679_isaac_state_train_727.zarr/data/state/30.0
new file mode 100644
index 0000000000000000000000000000000000000000..837a725d7d45d10ad1e94edf608df67e789d7e95
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/30.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/31.0 b/task_679_isaac_state_train_727.zarr/data/state/31.0
new file mode 100644
index 0000000000000000000000000000000000000000..0e7a4b7be2fd270e5d393c0b07dfe7f39b2f1e7c
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/31.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/63.0 b/task_679_isaac_state_train_727.zarr/data/state/63.0
new file mode 100644
index 0000000000000000000000000000000000000000..0676a5fb84a0da19018105dfc6b1062e4dcf3241
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/63.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/64.0 b/task_679_isaac_state_train_727.zarr/data/state/64.0
new file mode 100644
index 0000000000000000000000000000000000000000..5ef6f0ca71cbd8301c0fe6544da1fa9aee2f4e50
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/64.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/65.0 b/task_679_isaac_state_train_727.zarr/data/state/65.0
new file mode 100644
index 0000000000000000000000000000000000000000..7db54c9d496b0fb4458b5fa398f73170dd3513e1
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/65.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/66.0 b/task_679_isaac_state_train_727.zarr/data/state/66.0
new file mode 100644
index 0000000000000000000000000000000000000000..01993370055ffc967b15ec2f83ee1b2e70ad765c
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/66.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/67.0 b/task_679_isaac_state_train_727.zarr/data/state/67.0
new file mode 100644
index 0000000000000000000000000000000000000000..6d36a21d9377e763c2a65077ffd736eb0002d26d
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/67.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/68.0 b/task_679_isaac_state_train_727.zarr/data/state/68.0
new file mode 100644
index 0000000000000000000000000000000000000000..510606572e06950ce9d031b1577de3ca7c035700
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/68.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/69.0 b/task_679_isaac_state_train_727.zarr/data/state/69.0
new file mode 100644
index 0000000000000000000000000000000000000000..6170761dcb0de225802b54c757b69e1f694a1a2a
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/69.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/70.0 b/task_679_isaac_state_train_727.zarr/data/state/70.0
new file mode 100644
index 0000000000000000000000000000000000000000..8321dcf4d246a2d163fe077cc7ce34c9a4f83a96
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/70.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/71.0 b/task_679_isaac_state_train_727.zarr/data/state/71.0
new file mode 100644
index 0000000000000000000000000000000000000000..0699f3dda3f5a111eef5e0679cf19b3aa6711327
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/71.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/data/state/72.0 b/task_679_isaac_state_train_727.zarr/data/state/72.0
new file mode 100644
index 0000000000000000000000000000000000000000..1066f258d6b8547ac8b5d1271d03c92ab1a4f924
Binary files /dev/null and b/task_679_isaac_state_train_727.zarr/data/state/72.0 differ
diff --git a/task_679_isaac_state_train_727.zarr/metadata.json b/task_679_isaac_state_train_727.zarr/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f29bcc406727f7169ea6b4f0d80d9e5428ef0
--- /dev/null
+++ b/task_679_isaac_state_train_727.zarr/metadata.json
@@ -0,0 +1,16 @@
+{
+    "observation_space": "joint_pos",
+    "action_space": "joint_pos",
+    "delta_ee": 0,
+    "joint_pos_padding": 9,
+    "task_name": "task_679_isaac_state_train",
+    "num_episodes": 727,
+    "downsample_ratio": 1,
+    "drop_static_frames": true,
+    "static_state_tol": 1e-08,
+    "static_action_tol": 1e-12,
+    "static_root_tol": 1e-08,
+    "static_ee_tol": 1e-08,
+    "static_rgb_mean_tol": -1.0,
+    "static_frames_dropped": 8662
+}
\ No newline at end of file