diff --git a/.gitattributes b/.gitattributes
index 6749c0c1e51b7a72db379ff2752f866c5fe50f65..4298de7babe6bd0d03ba9fa20f1ffab8077e3f4a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11383,3 +11383,7 @@ task_524_isaac_state_train_970.zarr/data/head_camera/1760.0.0.0 filter=lfs diff=
 task_524_isaac_state_train_970.zarr/data/head_camera/1758.0.0.0 filter=lfs diff=lfs merge=lfs -text
 task_524_isaac_state_train_970.zarr/data/head_camera/1806.0.0.0 filter=lfs diff=lfs merge=lfs -text
 task_524_isaac_state_train_970.zarr/data/head_camera/1761.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_519_isaac_state_train_1171.zarr/data/head_camera/88.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_519_isaac_state_train_1171.zarr/data/head_camera/39.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_519_isaac_state_train_1171.zarr/data/head_camera/40.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_519_isaac_state_train_1171.zarr/data/head_camera/89.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/task_519_isaac_state_train_1171.zarr/.zgroup b/task_519_isaac_state_train_1171.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_519_isaac_state_train_1171.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_519_isaac_state_train_1171.zarr/data/.zgroup b/task_519_isaac_state_train_1171.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_519_isaac_state_train_1171.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_519_isaac_state_train_1171.zarr/data/head_camera/.zarray b/task_519_isaac_state_train_1171.zarr/data/head_camera/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..f8ad70f29de3a4eda354d013e284fc87bb0d171b
--- /dev/null
+++ b/task_519_isaac_state_train_1171.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": [
+        119154,
+        3,
+        256,
+        256
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_519_isaac_state_train_1171.zarr/data/head_camera/39.0.0.0 b/task_519_isaac_state_train_1171.zarr/data/head_camera/39.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c97445cce31137083b86960eceb01713174ad958
--- /dev/null
+++ b/task_519_isaac_state_train_1171.zarr/data/head_camera/39.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee2461b14f3e222aefe6b5e40a53b07f88c472230ed6d03f6d4816de1e5f804
+size 9304871
diff --git a/task_519_isaac_state_train_1171.zarr/data/head_camera/40.0.0.0 b/task_519_isaac_state_train_1171.zarr/data/head_camera/40.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..833b523e5d8dee04773e9d187b7ee0dfcc8491a8
--- /dev/null
+++ b/task_519_isaac_state_train_1171.zarr/data/head_camera/40.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b9cad2e77f12698712a1e47679a69e8f878957ed9d037f4e53598f95638646
+size 9823740
diff --git a/task_519_isaac_state_train_1171.zarr/data/head_camera/88.0.0.0 b/task_519_isaac_state_train_1171.zarr/data/head_camera/88.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..56a7df7a402760016c7be470398b3584314d9788
--- /dev/null
+++ b/task_519_isaac_state_train_1171.zarr/data/head_camera/88.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:241ffa096baf4c99d110e8a02b5cd6ad5256a2398119b8c6ab56d9899a7dbc5a
+size 9426678
diff --git a/task_519_isaac_state_train_1171.zarr/data/head_camera/89.0.0.0 b/task_519_isaac_state_train_1171.zarr/data/head_camera/89.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0546ed44aaa3fc4358853b6ae37a550fefc11836
--- /dev/null
+++ b/task_519_isaac_state_train_1171.zarr/data/head_camera/89.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a262c8c10644961cced1aeb03968cb71c36219cb44004a5eba71869c53d2e408
+size 9648426
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/.zarray b/task_519_isaac_state_train_1171.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ccc4212dd862bff79a591766a7a12229ff57159d
--- /dev/null
+++ b/task_519_isaac_state_train_1171.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": [
+        119154,
+        9
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/0.0 b/task_519_isaac_state_train_1171.zarr/data/state/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ba24fc3a5848aefc6178440b0a4bad10fed0c487
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/0.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/1.0 b/task_519_isaac_state_train_1171.zarr/data/state/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..ad69e4219303d15696d0c2e97a07fe1c830993c6
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/1.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/10.0 b/task_519_isaac_state_train_1171.zarr/data/state/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..c585917e945d8b13fc4eadb778f37e66a125a6dd
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/10.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/100.0 b/task_519_isaac_state_train_1171.zarr/data/state/100.0
new file mode 100644
index 0000000000000000000000000000000000000000..926eb1b34a1d4b27d46bad455b87c35fd723a32a
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/100.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/101.0 b/task_519_isaac_state_train_1171.zarr/data/state/101.0
new file mode 100644
index 0000000000000000000000000000000000000000..0ebf4345b28b5caa94830231ffd60505f8f94c58
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/101.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/102.0 b/task_519_isaac_state_train_1171.zarr/data/state/102.0
new file mode 100644
index 0000000000000000000000000000000000000000..32062e1e81e0835f4fe6cbeae5cffcd07ba8ea61
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/102.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/11.0 b/task_519_isaac_state_train_1171.zarr/data/state/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..8fb0c951468361c6b842087333ae576821fcf139
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/11.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/139.0 b/task_519_isaac_state_train_1171.zarr/data/state/139.0
new file mode 100644
index 0000000000000000000000000000000000000000..f253fe56ee85fa75975c4fa7129025b31003fe70
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/139.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/140.0 b/task_519_isaac_state_train_1171.zarr/data/state/140.0
new file mode 100644
index 0000000000000000000000000000000000000000..440bc2dad6f320d7a5526ed4868a43ec583aad28
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/140.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/141.0 b/task_519_isaac_state_train_1171.zarr/data/state/141.0
new file mode 100644
index 0000000000000000000000000000000000000000..ae46f709bfe6b3182b5765906f999195c54b1dc3
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/141.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/142.0 b/task_519_isaac_state_train_1171.zarr/data/state/142.0
new file mode 100644
index 0000000000000000000000000000000000000000..1f0b46073757ae8f3831ca2e216cea6279aa2df7
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/142.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/143.0 b/task_519_isaac_state_train_1171.zarr/data/state/143.0
new file mode 100644
index 0000000000000000000000000000000000000000..a735bc61f9edb373779dd9e526a4062c9c1688d0
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/143.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/144.0 b/task_519_isaac_state_train_1171.zarr/data/state/144.0
new file mode 100644
index 0000000000000000000000000000000000000000..221d2798638667ac8156bf680daa342b0f6814d8
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/144.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/145.0 b/task_519_isaac_state_train_1171.zarr/data/state/145.0
new file mode 100644
index 0000000000000000000000000000000000000000..fa4557948d98bb3934e26f4bd017af68f0ac1413
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/145.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/146.0 b/task_519_isaac_state_train_1171.zarr/data/state/146.0
new file mode 100644
index 0000000000000000000000000000000000000000..44fffc4abe91a59a1d8de8f3c2a7a89bc37575d1
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/146.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/147.0 b/task_519_isaac_state_train_1171.zarr/data/state/147.0
new file mode 100644
index 0000000000000000000000000000000000000000..34dc5d5ddba4d7f5639b1e0f4abee63386d6062f
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/147.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/148.0 b/task_519_isaac_state_train_1171.zarr/data/state/148.0
new file mode 100644
index 0000000000000000000000000000000000000000..fc1b3ecc99b5b1e4c6e2e11a34a78456aa0bf4a3
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/148.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/150.0 b/task_519_isaac_state_train_1171.zarr/data/state/150.0
new file mode 100644
index 0000000000000000000000000000000000000000..fffce2ce5381ca9772c44378ea5375131cf8ea1c
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/150.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/151.0 b/task_519_isaac_state_train_1171.zarr/data/state/151.0
new file mode 100644
index 0000000000000000000000000000000000000000..5f3b92e1268d7ad1cf3682eb3e798198b377d847
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/151.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/152.0 b/task_519_isaac_state_train_1171.zarr/data/state/152.0
new file mode 100644
index 0000000000000000000000000000000000000000..1775cc334eb3a496583e51d44b8324fb148f4fe9
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/152.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/2.0 b/task_519_isaac_state_train_1171.zarr/data/state/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..1f5e1c2bb17773302791997d6c5b7e3897a95680
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/2.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/3.0 b/task_519_isaac_state_train_1171.zarr/data/state/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..20c3143ea74d21c88dfd9b667485851c5d498b18
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/3.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/4.0 b/task_519_isaac_state_train_1171.zarr/data/state/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..6b2c8ae7c82482ad15bc8c8ba53337ce81245921
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/4.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/44.0 b/task_519_isaac_state_train_1171.zarr/data/state/44.0
new file mode 100644
index 0000000000000000000000000000000000000000..00392e7ccb6fb079b901fceda8b53624b0598ae1
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/44.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/45.0 b/task_519_isaac_state_train_1171.zarr/data/state/45.0
new file mode 100644
index 0000000000000000000000000000000000000000..0088015bcb858a8a26de52a55b5a566ab79d478b
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/45.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/47.0 b/task_519_isaac_state_train_1171.zarr/data/state/47.0
new file mode 100644
index 0000000000000000000000000000000000000000..43aa35d510c70f94e004aa1cdac6cacb2e5e5c41
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/47.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/5.0 b/task_519_isaac_state_train_1171.zarr/data/state/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..4cf620b147f1ede7701726b31103ca08abaea17e
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/5.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/6.0 b/task_519_isaac_state_train_1171.zarr/data/state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..841e248346db76ea54f295ca0e3b0461023c320d
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/6.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/7.0 b/task_519_isaac_state_train_1171.zarr/data/state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..2ffe342c6751335d008ad4dc79a944dd903cf8fd
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/7.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/8.0 b/task_519_isaac_state_train_1171.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..a47044fc53c863a74aa53bca5bbf6b0c32cd6eee
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/8.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/89.0 b/task_519_isaac_state_train_1171.zarr/data/state/89.0
new file mode 100644
index 0000000000000000000000000000000000000000..b176173b26528562c4415b7c747ab4ef4a4682a5
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/89.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/9.0 b/task_519_isaac_state_train_1171.zarr/data/state/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..bdddc4de4e187bdea55c701c75e9e60cde286da1
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/9.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/90.0 b/task_519_isaac_state_train_1171.zarr/data/state/90.0
new file mode 100644
index 0000000000000000000000000000000000000000..4d3cb434f16c62a4b24917c723d7c4d6554e3e4b
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/90.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/91.0 b/task_519_isaac_state_train_1171.zarr/data/state/91.0
new file mode 100644
index 0000000000000000000000000000000000000000..3e2f14d718403215117275f06449d4073966cebf
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/91.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/92.0 b/task_519_isaac_state_train_1171.zarr/data/state/92.0
new file mode 100644
index 0000000000000000000000000000000000000000..6cf2bb8d0036aaf6a8dbbd2d3dbab68feb927f2f
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/92.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/93.0 b/task_519_isaac_state_train_1171.zarr/data/state/93.0
new file mode 100644
index 0000000000000000000000000000000000000000..d4b39a65e2aae222da4ac4fb95f3f04578884f40
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/93.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/94.0 b/task_519_isaac_state_train_1171.zarr/data/state/94.0
new file mode 100644
index 0000000000000000000000000000000000000000..7a463308cd093d64cde0336013465c36f20c1b9c
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/94.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/95.0 b/task_519_isaac_state_train_1171.zarr/data/state/95.0
new file mode 100644
index 0000000000000000000000000000000000000000..e78af9f77604a02c693a541f0538b2d7e5cb8fbc
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/95.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/96.0 b/task_519_isaac_state_train_1171.zarr/data/state/96.0
new file mode 100644
index 0000000000000000000000000000000000000000..cd75c05d3358c05c9919b0d4b2c3340065d7dc20
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/96.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/97.0 b/task_519_isaac_state_train_1171.zarr/data/state/97.0
new file mode 100644
index 0000000000000000000000000000000000000000..dddeaf98cad5ca7cb6c95af797b9941e51854405
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/97.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/data/state/98.0 b/task_519_isaac_state_train_1171.zarr/data/state/98.0
new file mode 100644
index 0000000000000000000000000000000000000000..bee51347af2fd0ca5945d7d6787d5e9b83e4c00b
Binary files /dev/null and b/task_519_isaac_state_train_1171.zarr/data/state/98.0 differ
diff --git a/task_519_isaac_state_train_1171.zarr/metadata.json b/task_519_isaac_state_train_1171.zarr/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c53e5d0017fd0589d707718476a9fd20d9d83ca
--- /dev/null
+++ b/task_519_isaac_state_train_1171.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_519_isaac_state_train",
+    "num_episodes": 1171,
+    "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": 8327
+}
\ No newline at end of file