diff --git a/.gitattributes b/.gitattributes
index 7a3ccf3cf25e55e6353ef3236e3cbc8766064f98..48b236fe7367b245e03927f7f68e84a2e2908f79 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -60316,3 +60316,11 @@ task_653_isaac_state_train_816.zarr/data/head_camera/839.0.0.0 filter=lfs diff=l
 task_653_isaac_state_train_816.zarr/data/head_camera/795.0.0.0 filter=lfs diff=lfs merge=lfs -text
 task_653_isaac_state_train_816.zarr/data/head_camera/794.0.0.0 filter=lfs diff=lfs merge=lfs -text
 task_653_isaac_state_train_816.zarr/data/head_camera/840.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/40.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/39.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/88.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/89.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/41.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/90.0.0.0 filter=lfs diff=lfs merge=lfs -text
+task_649_isaac_state_train_478.zarr/data/head_camera/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/task_649_isaac_state_train_478.zarr/.zgroup b/task_649_isaac_state_train_478.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_649_isaac_state_train_478.zarr/data/.zgroup b/task_649_isaac_state_train_478.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/.zarray b/task_649_isaac_state_train_478.zarr/data/head_camera/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..84f4d482f65f03f134780b58fe3a8b165c3908d1
--- /dev/null
+++ b/task_649_isaac_state_train_478.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": [
+        143695,
+        3,
+        256,
+        256
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/0.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d0a2cd8b4e898fac515e9067a92864380a8ad6e4
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c4a451f6a5e6b962a84c197f727bbb2a6ce7d85ac1128271e0f66906f029f1
+size 8474266
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/1.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/1.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d1f47b7ce377163ace4debdf11ea0052b665d12b
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/1.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258ca451201b00e2f7e0136e9cce75d60f213c82d89cb6967f7f02da750f3f7b
+size 9582815
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/39.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/39.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e86a86d514e61e870a2091af862cabfe232dc755
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/39.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a48eab56d2b14d4092c4937815b93ef103b46b421b4410b7d7e03b4b6228bb7
+size 7928566
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/40.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/40.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..642d9342b1fbea0fa58670944b034c0adcfcdc5a
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/40.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d91585ec17cbe4871ed84618bcc4d1c0b873e403695270dedf05cca376b2c54
+size 8908928
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/41.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/41.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3246745a5d5b1f12513c2d0edf139ea83c0c2be8
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/41.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d0750717f767bfa5fa8f7e03c2b4241fa9ed79e0632c09aaa6e27fe0ead1f2
+size 9695238
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/88.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/88.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..568b77764214e820033a07bd4a0bcf3827f76b61
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/88.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81bd21018eab09da5e8bad906032de9bb0fcbfe7dc6387cd320663a8fe1f91a
+size 9572251
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/89.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/89.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9556ec5649ca83f4411397629f6a4b7fc0d0968a
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/89.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1856329c6f9475d3a1920b5b358e26fc5e487ec9ae4b599e1b1689ff85379c02
+size 9728977
diff --git a/task_649_isaac_state_train_478.zarr/data/head_camera/90.0.0.0 b/task_649_isaac_state_train_478.zarr/data/head_camera/90.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ca2242f2e25243757465c4401e9ddbdace824d1d
--- /dev/null
+++ b/task_649_isaac_state_train_478.zarr/data/head_camera/90.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97dd54f13f96b166c03ee6a378469c60a357bbd39b099e3a0b54fe10399e26c2
+size 10066883
diff --git a/task_649_isaac_state_train_478.zarr/data/state/.zarray b/task_649_isaac_state_train_478.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..cbeb0ef8a39cc9089ab5dc7ec75bad4e6b72bcce
--- /dev/null
+++ b/task_649_isaac_state_train_478.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": [
+        143695,
+        9
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/task_649_isaac_state_train_478.zarr/data/state/0.0 b/task_649_isaac_state_train_478.zarr/data/state/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e68130f4688f1d8ac1e24fbf1dc75cf28a0990de
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/0.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/1.0 b/task_649_isaac_state_train_478.zarr/data/state/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..aab574a927fc7c21f3a203d9c48b506bb653a9b9
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/1.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/10.0 b/task_649_isaac_state_train_478.zarr/data/state/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..7d3e0ba2555a3b81626c6aad8d825054807c1e34
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/10.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/100.0 b/task_649_isaac_state_train_478.zarr/data/state/100.0
new file mode 100644
index 0000000000000000000000000000000000000000..19927977d95042d4632f8376fbca041844f53430
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/100.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/101.0 b/task_649_isaac_state_train_478.zarr/data/state/101.0
new file mode 100644
index 0000000000000000000000000000000000000000..3267fecbd3c26ef178a13c43a9d37c399934d2eb
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/101.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/139.0 b/task_649_isaac_state_train_478.zarr/data/state/139.0
new file mode 100644
index 0000000000000000000000000000000000000000..19bd26cf9aa7f4f1ed658148a58151421fc5a9b8
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/139.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/140.0 b/task_649_isaac_state_train_478.zarr/data/state/140.0
new file mode 100644
index 0000000000000000000000000000000000000000..dfcf493e3d90a107676c3c286b76c8346024b7c6
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/140.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/141.0 b/task_649_isaac_state_train_478.zarr/data/state/141.0
new file mode 100644
index 0000000000000000000000000000000000000000..28604d09b15767540ded3212b2770cfa83c2add5
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/141.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/142.0 b/task_649_isaac_state_train_478.zarr/data/state/142.0
new file mode 100644
index 0000000000000000000000000000000000000000..670bc83a04c61e8430cbb974f3bf76a5f8aae6a2
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/142.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/143.0 b/task_649_isaac_state_train_478.zarr/data/state/143.0
new file mode 100644
index 0000000000000000000000000000000000000000..af33338708a31f61e176cdcab07dae7c706cdaea
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/143.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/144.0 b/task_649_isaac_state_train_478.zarr/data/state/144.0
new file mode 100644
index 0000000000000000000000000000000000000000..5760c7972066ac27442a00882939801627736342
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/144.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/145.0 b/task_649_isaac_state_train_478.zarr/data/state/145.0
new file mode 100644
index 0000000000000000000000000000000000000000..2d8c6a681f4a60333f979820c241aa51156b0eba
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/145.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/146.0 b/task_649_isaac_state_train_478.zarr/data/state/146.0
new file mode 100644
index 0000000000000000000000000000000000000000..330723cc555d7fa926ed6561acc5fcfa12ee9445
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/146.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/147.0 b/task_649_isaac_state_train_478.zarr/data/state/147.0
new file mode 100644
index 0000000000000000000000000000000000000000..6ec4be14434b9428bb7c78935142727e3204f2f1
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/147.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/148.0 b/task_649_isaac_state_train_478.zarr/data/state/148.0
new file mode 100644
index 0000000000000000000000000000000000000000..f7cd90c7fc14d3ac7fd37b0868762176613468ac
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/148.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/150.0 b/task_649_isaac_state_train_478.zarr/data/state/150.0
new file mode 100644
index 0000000000000000000000000000000000000000..cce9080f841d93924e5b9699c80e58948484fbb9
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/150.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/151.0 b/task_649_isaac_state_train_478.zarr/data/state/151.0
new file mode 100644
index 0000000000000000000000000000000000000000..e7f373b2de82bd1979c6ec6d9ed3714cf07e1236
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/151.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/2.0 b/task_649_isaac_state_train_478.zarr/data/state/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..e5ab1d4284238adce154d92673c035079d84d6a3
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/2.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/3.0 b/task_649_isaac_state_train_478.zarr/data/state/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..ba9205bc637a81bd28ccc28a3ba0a521e91bcece
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/3.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/4.0 b/task_649_isaac_state_train_478.zarr/data/state/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..a02b2cfd3c57ea75e3b7c0170bead433944f4a29
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/4.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/44.0 b/task_649_isaac_state_train_478.zarr/data/state/44.0
new file mode 100644
index 0000000000000000000000000000000000000000..85a45abbd3ac6f42895769c34dfa8b87651a56e9
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/44.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/45.0 b/task_649_isaac_state_train_478.zarr/data/state/45.0
new file mode 100644
index 0000000000000000000000000000000000000000..3ba8d3b99bb126edd58a1506df94624c5db4e3a0
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/45.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/5.0 b/task_649_isaac_state_train_478.zarr/data/state/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..61384d3ab9eb25497eebcd2c5d93ede571d4b41d
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/5.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/6.0 b/task_649_isaac_state_train_478.zarr/data/state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..6add7fca331d2443d4485cb6d8ada75a95fc4b22
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/6.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/7.0 b/task_649_isaac_state_train_478.zarr/data/state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..31adb093b755e8f6fba9fe115793566f17f51eab
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/7.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/8.0 b/task_649_isaac_state_train_478.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..ae890e3ede98c193b27334d533ab65d07f7f95f3
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/8.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/89.0 b/task_649_isaac_state_train_478.zarr/data/state/89.0
new file mode 100644
index 0000000000000000000000000000000000000000..035806e738b4d011ab958e36051bcf046217cdd5
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/89.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/9.0 b/task_649_isaac_state_train_478.zarr/data/state/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..d876950b33de6558d4592013dd0c007e76aac5f7
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/9.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/90.0 b/task_649_isaac_state_train_478.zarr/data/state/90.0
new file mode 100644
index 0000000000000000000000000000000000000000..bdf4da0ebb78ef19fb4abc8bfd227b06e8ba1253
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/90.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/91.0 b/task_649_isaac_state_train_478.zarr/data/state/91.0
new file mode 100644
index 0000000000000000000000000000000000000000..28ef416b10c10ef42e4ed52ce09ef85349d5b44d
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/91.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/92.0 b/task_649_isaac_state_train_478.zarr/data/state/92.0
new file mode 100644
index 0000000000000000000000000000000000000000..bea3b2a06f4dda656880295a96c00e074898c60a
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/92.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/93.0 b/task_649_isaac_state_train_478.zarr/data/state/93.0
new file mode 100644
index 0000000000000000000000000000000000000000..58fb4d443e85479ca3d0604024d07e954f2f8c5d
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/93.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/94.0 b/task_649_isaac_state_train_478.zarr/data/state/94.0
new file mode 100644
index 0000000000000000000000000000000000000000..e7c47a5d024330a2896c75466ec9359163af50aa
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/94.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/95.0 b/task_649_isaac_state_train_478.zarr/data/state/95.0
new file mode 100644
index 0000000000000000000000000000000000000000..cd89456dd4b6cf4fe40f5e042ed421d9007d5b5b
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/95.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/96.0 b/task_649_isaac_state_train_478.zarr/data/state/96.0
new file mode 100644
index 0000000000000000000000000000000000000000..63814a7db5a1141954b317dbd4cb536ecacb9605
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/96.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/97.0 b/task_649_isaac_state_train_478.zarr/data/state/97.0
new file mode 100644
index 0000000000000000000000000000000000000000..7d4fac4cc872c91d35c1abf5a91ebaca09987736
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/97.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/data/state/98.0 b/task_649_isaac_state_train_478.zarr/data/state/98.0
new file mode 100644
index 0000000000000000000000000000000000000000..ee672fb73cb46683d37d14bbbb239eeb525289b2
Binary files /dev/null and b/task_649_isaac_state_train_478.zarr/data/state/98.0 differ
diff --git a/task_649_isaac_state_train_478.zarr/metadata.json b/task_649_isaac_state_train_478.zarr/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5d4293f6335ff881fc15ceaa5afbd4f9c08e58
--- /dev/null
+++ b/task_649_isaac_state_train_478.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_649_isaac_state_train",
+    "num_episodes": 478,
+    "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": 8586
+}
\ No newline at end of file