diff --git a/task_501_isaac_state_train_100.zarr/data/.zgroup b/task_501_isaac_state_train_100.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_501_isaac_state_train_100.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_501_isaac_state_train_100.zarr/data/head_camera/.zarray b/task_501_isaac_state_train_100.zarr/data/head_camera/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a7ae9d7ef1389e6604a784ac50231c52482d29df
--- /dev/null
+++ b/task_501_isaac_state_train_100.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": [
+        8061,
+        3,
+        256,
+        256
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_501_isaac_state_train_100.zarr/data/state/.zarray b/task_501_isaac_state_train_100.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b5b5e73df167364089f179fcd22f7c209034d6dd
--- /dev/null
+++ b/task_501_isaac_state_train_100.zarr/data/state/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        100,
+        9
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        8061,
+        9
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_501_isaac_state_train_100.zarr/data/state/0.0 b/task_501_isaac_state_train_100.zarr/data/state/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..cedd08f66430692eabb2c3f94b79dac45fcb3427
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/0.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/1.0 b/task_501_isaac_state_train_100.zarr/data/state/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..9ff620732e181eaf751908fcb4954986c52109bd
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/1.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/10.0 b/task_501_isaac_state_train_100.zarr/data/state/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..5d8bcd3455fef284d5fc8933739de5016fce7762
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/10.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/11.0 b/task_501_isaac_state_train_100.zarr/data/state/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..e91c36c981df2ca15de7ccee4176c0582e507741
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/11.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/12.0 b/task_501_isaac_state_train_100.zarr/data/state/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..c26f1b670ec87c0c91a6de60953c4ca8d4d1080f
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/12.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/13.0 b/task_501_isaac_state_train_100.zarr/data/state/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..b624d69b271a1ac4f8fefea241115c902e97d45a
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/13.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/14.0 b/task_501_isaac_state_train_100.zarr/data/state/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..b8564bce6a718a833731c20ab253e6fc0c662baa
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/14.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/15.0 b/task_501_isaac_state_train_100.zarr/data/state/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..3689fe529c906b965169d28d3e7d85bd7bfd6cab
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/15.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/16.0 b/task_501_isaac_state_train_100.zarr/data/state/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..e2686b8537697c19efeadffbe6ee14a5c96e144e
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/16.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/17.0 b/task_501_isaac_state_train_100.zarr/data/state/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..974691b1b7f0bb6442fa08cd8bb48ea91453c694
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/17.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/18.0 b/task_501_isaac_state_train_100.zarr/data/state/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..5849c2d7ec4631bff43e0538eb0820d06e50d570
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/18.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/19.0 b/task_501_isaac_state_train_100.zarr/data/state/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..ff29e111d2d67768a32a9784c80e8fb33f153528
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/19.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/2.0 b/task_501_isaac_state_train_100.zarr/data/state/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..ff35df951dd0a5deb11885085d54e5a282298605
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/2.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/20.0 b/task_501_isaac_state_train_100.zarr/data/state/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..1146a38ff73ffd762161bb2c6b3e63c4a864b195
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/20.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/21.0 b/task_501_isaac_state_train_100.zarr/data/state/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..d422fec726289b0636ea349929ffdf3f6a898d66
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/21.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/22.0 b/task_501_isaac_state_train_100.zarr/data/state/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..7373e6b3e3fbfa59e59c7362f9173f3ffac9945f
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/22.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/23.0 b/task_501_isaac_state_train_100.zarr/data/state/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..3be134f0e99d63dcfe42e46dc476cc2be733969c
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/23.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/24.0 b/task_501_isaac_state_train_100.zarr/data/state/24.0
new file mode 100644
index 0000000000000000000000000000000000000000..b1104323336eb5fdf0b32deb862a89b5b93cda79
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/24.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/25.0 b/task_501_isaac_state_train_100.zarr/data/state/25.0
new file mode 100644
index 0000000000000000000000000000000000000000..ac350002162342e97ebcca5092dd5a8628023b85
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/25.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/26.0 b/task_501_isaac_state_train_100.zarr/data/state/26.0
new file mode 100644
index 0000000000000000000000000000000000000000..b76cd4e4f1e59b13716eebeb19fe366e20c1b96e
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/26.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/27.0 b/task_501_isaac_state_train_100.zarr/data/state/27.0
new file mode 100644
index 0000000000000000000000000000000000000000..457d00b28de5296363771eb47c18f5b5cf8e88c8
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/27.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/28.0 b/task_501_isaac_state_train_100.zarr/data/state/28.0
new file mode 100644
index 0000000000000000000000000000000000000000..8e147b2042b399038a7b37410d4d537d301fb0e4
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/28.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/29.0 b/task_501_isaac_state_train_100.zarr/data/state/29.0
new file mode 100644
index 0000000000000000000000000000000000000000..65a1338d3135d06b68576d30b067bb3a2a8b3669
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/29.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/3.0 b/task_501_isaac_state_train_100.zarr/data/state/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..e05d118ffed6aa4f978532f9c00611cedf6a7bd4
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/3.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/30.0 b/task_501_isaac_state_train_100.zarr/data/state/30.0
new file mode 100644
index 0000000000000000000000000000000000000000..c9119c5d1c6c763c0422152285a4fe6faefcef99
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/30.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/31.0 b/task_501_isaac_state_train_100.zarr/data/state/31.0
new file mode 100644
index 0000000000000000000000000000000000000000..ae487d45c4e5d5fefc920629687208eb24b67bf9
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/31.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/32.0 b/task_501_isaac_state_train_100.zarr/data/state/32.0
new file mode 100644
index 0000000000000000000000000000000000000000..f09a61ce887166ff690ee7c6e6c39c5842d68418
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/32.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/33.0 b/task_501_isaac_state_train_100.zarr/data/state/33.0
new file mode 100644
index 0000000000000000000000000000000000000000..cc5629536bdd01318447ffd1efc70d790bb4b955
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/33.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/34.0 b/task_501_isaac_state_train_100.zarr/data/state/34.0
new file mode 100644
index 0000000000000000000000000000000000000000..490fc572055220fc9e7b6af87a9166727f27256d
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/34.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/35.0 b/task_501_isaac_state_train_100.zarr/data/state/35.0
new file mode 100644
index 0000000000000000000000000000000000000000..65c3f5f80f524d527542f8ef06596e382cfdbdb6
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/35.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/36.0 b/task_501_isaac_state_train_100.zarr/data/state/36.0
new file mode 100644
index 0000000000000000000000000000000000000000..1719ff2cd400c91344b7712cb1310c9c0299c7a5
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/36.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/37.0 b/task_501_isaac_state_train_100.zarr/data/state/37.0
new file mode 100644
index 0000000000000000000000000000000000000000..e903ac8d8d6ebc211d8197fcafc71beef72c80bb
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/37.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/38.0 b/task_501_isaac_state_train_100.zarr/data/state/38.0
new file mode 100644
index 0000000000000000000000000000000000000000..d107faead528a84d57da44300ca676c1db697b6d
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/38.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/39.0 b/task_501_isaac_state_train_100.zarr/data/state/39.0
new file mode 100644
index 0000000000000000000000000000000000000000..99f9ace84d63c2f003b0541231593be0bbd4b9a0
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/39.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/4.0 b/task_501_isaac_state_train_100.zarr/data/state/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..902cf048363ee73d8fa678c70b30cf5754d910a6
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/4.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/40.0 b/task_501_isaac_state_train_100.zarr/data/state/40.0
new file mode 100644
index 0000000000000000000000000000000000000000..82fe37e08491b287a41ebb3178a68588ad11317b
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/40.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/41.0 b/task_501_isaac_state_train_100.zarr/data/state/41.0
new file mode 100644
index 0000000000000000000000000000000000000000..437788861e832bfcc00e3856516a841ab6a412c7
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/41.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/42.0 b/task_501_isaac_state_train_100.zarr/data/state/42.0
new file mode 100644
index 0000000000000000000000000000000000000000..770f6dad819ba4e17feb9e4212078a721f474877
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/42.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/43.0 b/task_501_isaac_state_train_100.zarr/data/state/43.0
new file mode 100644
index 0000000000000000000000000000000000000000..460bca78be2e07dc8a3e65140d9529341eafecca
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/43.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/44.0 b/task_501_isaac_state_train_100.zarr/data/state/44.0
new file mode 100644
index 0000000000000000000000000000000000000000..585d9346740f0199be81751b41aa168426e9048e
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/44.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/45.0 b/task_501_isaac_state_train_100.zarr/data/state/45.0
new file mode 100644
index 0000000000000000000000000000000000000000..33bc9cfe3ff66d4bd802d4262c0a77223f04a944
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/45.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/46.0 b/task_501_isaac_state_train_100.zarr/data/state/46.0
new file mode 100644
index 0000000000000000000000000000000000000000..20fabb448ebf38ddbde1a3844178b214550ef7cb
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/46.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/47.0 b/task_501_isaac_state_train_100.zarr/data/state/47.0
new file mode 100644
index 0000000000000000000000000000000000000000..f6c8cc1d3960c0c71995bf176415dccff9170178
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/47.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/48.0 b/task_501_isaac_state_train_100.zarr/data/state/48.0
new file mode 100644
index 0000000000000000000000000000000000000000..73c0363581df84a045df01cb5a3b22df950f0308
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/48.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/49.0 b/task_501_isaac_state_train_100.zarr/data/state/49.0
new file mode 100644
index 0000000000000000000000000000000000000000..390755bba0b58e7ea07e0389660a584dac51d2b8
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/49.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/5.0 b/task_501_isaac_state_train_100.zarr/data/state/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..b39cdb52641c9ef4e60affcfe1818c920c01a532
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/5.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/50.0 b/task_501_isaac_state_train_100.zarr/data/state/50.0
new file mode 100644
index 0000000000000000000000000000000000000000..fa248cb2211b0e2ebcfd342b6cdd2d9de513491c
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/50.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/51.0 b/task_501_isaac_state_train_100.zarr/data/state/51.0
new file mode 100644
index 0000000000000000000000000000000000000000..bff3e2cce6deb390f1edcb2f4198fa7c46266e3f
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/51.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/52.0 b/task_501_isaac_state_train_100.zarr/data/state/52.0
new file mode 100644
index 0000000000000000000000000000000000000000..5b879c43f9adede0053de7531448fc63d70d2017
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/52.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/53.0 b/task_501_isaac_state_train_100.zarr/data/state/53.0
new file mode 100644
index 0000000000000000000000000000000000000000..e951313b90b605aeb8ff87aacac89d2c014ab674
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/53.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/54.0 b/task_501_isaac_state_train_100.zarr/data/state/54.0
new file mode 100644
index 0000000000000000000000000000000000000000..c4cc54f6aaa2077a39783bc926485391cde4bf38
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/54.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/55.0 b/task_501_isaac_state_train_100.zarr/data/state/55.0
new file mode 100644
index 0000000000000000000000000000000000000000..def8fc92841ac911d605ceb21a94f6c1987a2b0c
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/55.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/56.0 b/task_501_isaac_state_train_100.zarr/data/state/56.0
new file mode 100644
index 0000000000000000000000000000000000000000..65556f52c245ed9ab82efac3e371905912353dff
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/56.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/57.0 b/task_501_isaac_state_train_100.zarr/data/state/57.0
new file mode 100644
index 0000000000000000000000000000000000000000..c0de0bdd10f9a64124164063ebd9416b0f508567
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/57.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/58.0 b/task_501_isaac_state_train_100.zarr/data/state/58.0
new file mode 100644
index 0000000000000000000000000000000000000000..541d0a739dd8b410ec58ccd5d69890347e98918d
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/58.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/59.0 b/task_501_isaac_state_train_100.zarr/data/state/59.0
new file mode 100644
index 0000000000000000000000000000000000000000..5c57cbca7ffe52035e6d93bbf6f7e6277963e763
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/59.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/6.0 b/task_501_isaac_state_train_100.zarr/data/state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..8d106b7d2caafd9f16faa610d35c306a5b457ca1
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/6.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/60.0 b/task_501_isaac_state_train_100.zarr/data/state/60.0
new file mode 100644
index 0000000000000000000000000000000000000000..a37ea1f892860c9bc1ffb67579c2b59257cda5fd
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/60.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/61.0 b/task_501_isaac_state_train_100.zarr/data/state/61.0
new file mode 100644
index 0000000000000000000000000000000000000000..903d7cb61c2fb1891f19b5ae2753bc74af404b7a
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/61.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/62.0 b/task_501_isaac_state_train_100.zarr/data/state/62.0
new file mode 100644
index 0000000000000000000000000000000000000000..76b02352d49bd6135762d1d4a55430556156429b
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/62.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/63.0 b/task_501_isaac_state_train_100.zarr/data/state/63.0
new file mode 100644
index 0000000000000000000000000000000000000000..1fcef214720ad87df50210e7789e29a215a8aef5
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/63.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/64.0 b/task_501_isaac_state_train_100.zarr/data/state/64.0
new file mode 100644
index 0000000000000000000000000000000000000000..324d8d9a897d0d50e9b2b988001d5241f3992ce0
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/64.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/65.0 b/task_501_isaac_state_train_100.zarr/data/state/65.0
new file mode 100644
index 0000000000000000000000000000000000000000..6154e94361fe197332d2ab4671c04363af6014e2
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/65.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/66.0 b/task_501_isaac_state_train_100.zarr/data/state/66.0
new file mode 100644
index 0000000000000000000000000000000000000000..e51e589c3ea7de18509c57063bc680c6e02aa0eb
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/66.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/67.0 b/task_501_isaac_state_train_100.zarr/data/state/67.0
new file mode 100644
index 0000000000000000000000000000000000000000..e9c84f421e28abfc02fdc4763fd574f0153eae9f
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/67.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/7.0 b/task_501_isaac_state_train_100.zarr/data/state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..7c7f08a5fef77b3fbc4070a63d89bdf2f1edc076
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/7.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/8.0 b/task_501_isaac_state_train_100.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..804f63501f723cbac037c8c511fa6dbf3e4be4f3
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/8.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/data/state/9.0 b/task_501_isaac_state_train_100.zarr/data/state/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..57ad7ab17be44c78d49c54c9c17d11dddff6be34
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/data/state/9.0 differ
diff --git a/task_501_isaac_state_train_100.zarr/meta/.zattrs b/task_501_isaac_state_train_100.zarr/meta/.zattrs
new file mode 100644
index 0000000000000000000000000000000000000000..444ded38f6dafd54aa7d7138570d3efba209c903
--- /dev/null
+++ b/task_501_isaac_state_train_100.zarr/meta/.zattrs
@@ -0,0 +1,16 @@
+{
+    "action_space": "joint_pos",
+    "delta_ee": 0,
+    "downsample_ratio": 1,
+    "drop_static_frames": true,
+    "joint_pos_padding": 9,
+    "num_episodes": 100,
+    "observation_space": "joint_pos",
+    "static_action_tol": 1e-12,
+    "static_ee_tol": 1e-08,
+    "static_frames_dropped": 89,
+    "static_rgb_mean_tol": -1.0,
+    "static_root_tol": 1e-08,
+    "static_state_tol": 1e-08,
+    "task_name": "task_501_isaac_state_train"
+}
\ No newline at end of file
diff --git a/task_501_isaac_state_train_100.zarr/meta/episode_ends/.zarray b/task_501_isaac_state_train_100.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..46c019a07f9bad7f35119705284ae2c99ec75375
--- /dev/null
+++ b/task_501_isaac_state_train_100.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        100
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        100
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_501_isaac_state_train_100.zarr/meta/episode_ends/0 b/task_501_isaac_state_train_100.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..c439d5dedb20274ae91fec133240111930e3072c
Binary files /dev/null and b/task_501_isaac_state_train_100.zarr/meta/episode_ends/0 differ
diff --git a/task_501_isaac_state_train_100.zarr/metadata.json b/task_501_isaac_state_train_100.zarr/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f65456c4587a076f214ae346d0f2ce90f2f75e
--- /dev/null
+++ b/task_501_isaac_state_train_100.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_501_isaac_state_train",
+    "num_episodes": 100,
+    "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": 89
+}
\ No newline at end of file